Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.     

Command governor for constrained switched systems with scheduled model transition dwell times

In this paper, a switched control architecture for constrained control systems is presented. The strategy is based on command governor ideas that are here specialized to ‘optimally’ schedule switching events on the plant dynamics for improving control performance at the expense of low computational burdens. The significance of the method mainly lies in its capability to avoid constraints violation and loss of stability regardless of any configuration change occurrence in the plant/constraint structure. To this end, the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfilment. Simulation results on a simple linear system and on a Cessna 182 aircraft model show the effectiveness of the proposed strategy. Copyright © 2017 John Wiley & Sons, Ltd.     

Defining, contouring, and visualizing scalar functions on point-sampled surfaces

This paper addresses the definition, contouring, and visualization of scalar functions on unorganized point sets, which are sampled from a surface in 3D space; the proposed framework builds on moving least-squares techniques and implicit modeling. Given a scalar function f:P→R, defined on a point set P, the idea behind our approach is to exploit the local connectivity structure of the k-nearest neighbor graph of P and mimic the contouring of scalar functions defined on triangle meshes. Moving least-squares and implicit modeling techniques are used to extend f from P to the surface M underlying P. To this end, we compute an analytical approximation of f that allows us to provide an exact differential analysis of , draw its iso-contours, visualize its behavior on and around M, and approximate its critical points. We also compare moving least-squares and implicit techniques for the definition of the scalar function underlying f and discuss their numerical stability and approximation accuracy. Finally, the proposed framework is a starting point to extend those processing techniques that build on the analysis of scalar functions on 2-manifold surfaces to point sets.     

Comparison of three SeaWiFS atmospheric correction algorithms for turbid waters using AERONET-OC measurements

The use of satellites to monitor the color of the ocean requires effective removal of the atmospheric signal. This can be performed by extrapolating the aerosol optical properties in the visible from the near-infrared (NIR) spectral region assuming that the seawater is totally absorbant in this latter part of the spectrum. However, the non-negligible water-leaving radiance in the NIR which is characteristic of turbid waters may lead to an overestimate of the atmospheric radiance in the whole visible spectrum with increasing severity at shorter wavelengths. This may result in significant errors, if not complete failure, of various algorithms for the retrieval of chlorophyll-a concentration, inherent optical properties and biogeochemical parameters of surface waters.This paper presents results of an inter-comparison study of three methods that compensate for NIR water-leaving radiances and that are based on very different hypothesis: 1) the standard SeaWiFS algorithm (Stumpf et al., 2003; Bailey et al., 2010) based on a bio-optical model and an iterative process; 2) the algorithm developed by Ruddick et al. (2000) based on the spatial homogeneity of the NIR ratios of the aerosol and water-leaving radiances; and 3) the algorithm of Kuchinke et al. (2009) based on a fully coupled atmosphere-ocean spectral optimization inversion. They are compared using normalized water-leaving radiance nL_w in the visible. The reference source for comparison is ground-based measurements from three AERONET-Ocean Color sites, one in the Adriatic Sea and two in the East Coast of USA.Based on the matchup exercise, the best overall estimates of the nL_w are obtained with the latest SeaWiFS standard algorithm version with relative error varying from 14.97% to 35.27% for λ = 490 nm and λ = 670 nm respectively. The least accurate estimates are given by the algorithm of Ruddick, the relative errors being between 16.36% and 42.92% for λ = 490 nm and λ = 412 nm, respectively. The algorithm of Kuchinke appears to be the most accurate algorithm at 412 nm (30.02%), 510 (15.54%) and 670 nm (32.32%) using its default optimization and bio-optical model coefficient settings.Similar conclusions are obtained for the aerosol optical properties (aerosol optical thickness τ(865) and the Ångström exponent, α(510, 865)). Those parameters are retrieved more accurately with the SeaWiFS standard algorithm (relative error of 33% and 54.15% for τ(865) and α(510, 865)).A detailed analysis of the hypotheses of the methods is given for explaining the differences between the algorithms. The determination of the aerosol parameters is critical for the algorithm of Ruddick et al. (2000) while the bio-optical model is critical for the algorithm of Stumpf et al. (2003) utilized in the standard SeaWiFS atmospheric correction and both aerosol and bio-optical model for the coupled atmospheric-ocean algorithm of Kuchinke. The Kuchinke algorithm presents model aerosol-size distributions that differ from real aerosol-size distribution pertaining to the measurements. In conclusion, the results show that for the given atmospheric and oceanic conditions of this study, the SeaWiFS atmospheric correction algorithm is most appropriate for estimating the marine and aerosol parameters in the given turbid waters regions.     

Finite element analysis with uncertain probabilities

This paper presents a general method for the finite element analysis of linear mechanical systems by taking into account probability density functions whose parameters are affected by fuzziness. Within this framework, the standard perturbation-based stochastic finite element method is relaxed in order to incorporate uncertain probabilities in static, dynamic and modal analyses. General formulae are provided for assessing the (fuzzy) structural reliability and several typologies of optimization problems (reliability-based design, robust design, robust/reliability-based design) are formalized. In doing this the credibility theory is extensively used to extract qualified crisp data from the available set of fuzzy results, so that standard optimizers can be adopted to solve the most important design problems. It is shown that the proposed methodology is a general and versatile tool for finite element analyses because it is able to consider, both, probabilistic and non-probabilistic sources of uncertainties, such as randomness, vagueness, ambiguity and imprecision.     

Edge and line oriented contour detection: State of the art

We present an overview of various edge and line oriented approaches to contour detection that have been proposed in the last two decades. By edge and line oriented we mean methods that do not rely on segmentation. Distinction is made between edges and contours. Contour detectors are divided in local and global operators. The former are mainly based on differential analysis, statistical approaches, phase congruency, rank order filters, and combinations thereof. The latter include computation of contour saliency, perceptual grouping, relaxation labeling and active contours. Important aspects are covered, such as preprocessing aimed to suppress texture and noise, multiresolution techniques, connections between computational models and properties of the human visual system, and use of shape priors. An overview of procedures and metrics for quantitative performance evaluation is also presented. Our main conclusion is that contour detection has reached high degree of sophistication, taking into account multimodal contour definition (by luminance, color or texture changes), mechanisms for reducing the contour masking influence of noise and texture, perceptual grouping, multiscale aspects and high-level vision information.     

HMAP– A temporal data model managing intervals with different granularities and indeterminacy from natural language sentences

The granularity of given temporal information is the level of abstraction at which information is expressed. Different units of measure allow one to represent different granularities. Indeterminacy is often present in temporal information given at different granularities: temporal indeterminacy is related to incomplete knowledge of when the considered fact happened. Focusing on temporal databases, different granularities and indeterminacy have to be considered in expressing valid time, i.e., the time at which the information is true in the modeled reality. In this paper, we propose HMAP (The term is the transliteration of an ancient Greek poetical word meaning “day”.), a temporal data model extending the capability of defining valid times with different granularity and/or with indeterminacy. In HMAP, absolute intervals are explicitly represented by their start,end, and duration: in this way, we can represent valid times as “in December 1998 for five hours”, “from July 1995, for 15 days”, “from March 1997 to October 15, 1997, between 6 and 6:30 p.m.”. HMAP is based on a three-valued logic, for managing uncertainty in temporal relationships. Formulas involving different temporal relationships between intervals, instants, and durations can be defined, allowing one to query the database with different granularities, not necessarily related to that of data. In this paper, we also discuss the complexity of algorithms, allowing us to evaluate HMAP formulas, and show that the formulas can be expressed as constraint networks falling into the class of simple temporal problems, which can be solved in polynomial time. Received 6 August 1998 / Accepted 13 July 2000 Published online: 13 February 2001     

Dynamic positioning of idle automated guided vehicles

An automated guided vehicle (AGV) is a mobile robot commonly used to carry loads in material handling systems (MHS). Once a transfer is completed, an AGV stops at a home position, a point where it can park until it is assigned a new task. Determining the home positions is an important control problem with a direct influence on the overall performance of the MHS. The problem can be viewed as a location-allocation problem on a network. In this paper two fast and effective heuristics which dynamically determine the home positions are proposed. The methods were tested using two real-world instances. The obtained results are shown and discussed.     

FRET measurements on fuzzy fluorescent nanostructures

In the last decade, fluorescence resonance energy transfer (FRET) has become a useful technique for studying intermolecular interactions applied to the analysis of biological systems. Although FRET measurements may be very helpful in the comprehension of different cellular processes, it can be difficult to obtain quantitative results, hence the necessity of studying FRET on controllable systems. Here, a fuzzy nanostructured system called a nanocapsule is presented as a nanometric-device allowing distance modulation, thus preserving photophysical properties of fluorescent dyes and exhibiting good potential features for improving quantitative FRET analysis. We evaluated the behavior of such a sample using four FRET methods (three of them based on steady-state fluorescence and one using lifetime measurements). Within some limitations that can be overcome, these nanodevices have the potential to serve as a benchmark system for characterizing new FRET couples and to develop quantitative approaches for FRET analysis.