Robot task plan representation by Petri nets: modelling, identification, analysis and execution

In this paper we introduce a framework to represent robot task plans based on Petri nets. Our approach enables modelling a robot task, analysing its qualitative and quantitative properties and using the Petri net representation for actual plan execution. The overall model is obtained from the composition of simple models, leading to a modular approach. Analysis is applied to a closed loop between the robot controller and the environment Petri net models. We focus here on the quantitative properties, captured by stochastic Petri net models. Furthermore, we introduce a method to identify the environment and action layer parameters of the stochastic Petri net models from real data, improving the significance of the model. The framework building blocks and a single-robot task model are detailed. Results of a case study with simulated soccer robots show the ability of the framework to provide a systematic modelling tool, and of determining, through well-known analysis methods for stochastic Petri nets, relevant properties of the task plan applied to a particular environment.     

Intrinsic Images by Clustering

Decomposing an input image into its intrinsic shading and reflectance components is a long‐standing ill‐posed problem. We present a novel algorithm that requires no user strokes and works on a single image. Based on simple assumptions about its reflectance and luminance, we first find clusters of similar reflectance in the image, and build a linear system describing the connections and relations between them. Our assumptions are less restrictive than widely‐adopted Retinex‐based approaches, and can be further relaxed in conflicting situations. The resulting system is robust even in the presence of areas where our assumptions do not hold. We show a wide variety of results, including natural images, objects from the MIT dataset and texture images, along with several applications, proving the versatility of our method.     

Wafer-level fabrication process for fully encapsulated micro-supercapacitors with high specific energy

In this paper a wafer-level process is proposed to fully integrate carbon-based micro-supercapacitor onto silicon substrate. This process relies on the deposition of a paste containing carbon, PVDF and acetone into cavities etched in silicon. After electrolyte deposition in a controlled atmosphere, a wafer-level encapsulation is realized. Cyclic voltammetry performed on non-encapsulated micro-components showed specific energy of 257 mJ cm⁻² for 336 μm deep cavities. The specific encapsulation process developed was tested separately and proved to be efficient in terms of resistance to organic electrolytes and mechanical strength.     

A weight function methodology for the assessment of embedded and surface irregular plane cracks

A low cost numerical tool for the calculation of mode I stress intensity factors K in embedded and surface irregular cracks is presented in this paper. The proposed tool is an extension of the O-integral algorithm due to Oore and Burns for the assessment of embedded plane cracks using the weight function methodology. The performance of the O-integral is assessed first by comparing its K results to exact solutions for embedded elliptical and rectangular cracks. From the analysis of this data it is found that the error in the K results systematically depends on the crack aspect ratio and the local crack front curvature. Based on this evidence a corrective function is derived in order to remediate the limitations of the O-integral. Solutions due to Newman and Raju are used to account for the effects of free surfaces and finite thickness. The accuracy of the proposed procedure is assessed by solving a number of examples and by comparing the obtained results to those available in the literature.     

Narrow-FSK optical packet labeling scheme for optical ethernet networks

In this work, an intensity modulation/frequency-shift keying (IM/FSK) orthogonal modulation scheme is achieved by direct modulation of a distributed feedback laser source using its adiabatic chirp characteristics. Optical frequencies for "1" and "0" bits are separated only 0.7 GHz, obtaining a narrow-FSK modulation and, accordingly, a low residual intensity modulation. Ethernet frames at 1.25 Gb/s (GbE) are transmitted with a label inserted using coded mark inversion codification at a 155-Mb/s rate. Error rates for the Ethernet payload and for the label have been measured for different payload extinction ratios, showing the viability of this scheme for distances up to 25 km.     

Differential Fos Expression Following Aspiration, Electrolytic, or Excitotoxic Lesions of the Perirhinal Cortex in Rats.

The authors explored the possibility that there are different neural consequences, beyond the primary site of brain damage, following perirhinal cortex (PRh) lesions made in different ways. Fos expression was used as a marker for neuronal activation and compared across the forebrains of rats that underwent the different types of surgery. Electrolytic and excitotoxic PRh lesions produced dramatic increases in Fos expression in the cortex, and excitotoxic and aspiration PRh lesions increased Fos expression in the dentate gyrus. These data are consistent with the hypothesis that different lesion methods have separable effects on neural function in regions outside the lesion site that could account for inconsistencies in the literature regarding the behavioral effects of PRh lesions on tests of spatial memory. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Stabilization of electromechanical systems via interconnection and damping assignment

In this article, we propose a general controller structure for asymptotic position regulation of electromechanical systems derived using the Interconnection and Damping Assignment Passivity‐Based Control methodology recently proposed in the literature. The controller is applicable to arbitrary fully actuated electromechanical systems with linear magnetic materials consisting of inductances, permanent magnets, and one mechanical co‐ordinate. We assume linear magnetic materials and fully actuated electrical dynamics; however, no restrictions are imposed on the particular form of the parameters that define the system dynamics, i.e. the inductance matrix, the magnetic coupling or the potential energy function. This allows us to treat—in a unified framework and without any additional simplifying assumptions—very diverse applications, including magnetic suspensions, and stepper and permanent magnet synchronous motors. Instrumental for our developments is the inclusion of ‘virtual’ couplings between the electrical and the mechanical subsystem, which is naturally suggested in this control methodology. Copyright © 2003 John Wiley & Sons, Ltd.     

Proposal of visual strength grading rules for Uruguayan pine timber

A previous database with bending and density data of 261 structural size specimens of currently produced Uruguayan slash pine and loblolly pine timber was adjusted to meet testing and characterization requirements of European standards. Visual parameters and mechanical properties for each specimen were evaluated and their relationship was statistically analyzed. Results suggested that all specimens can be grouped in one visual grade with engineered properties similar to those of European C14 strength class. Modulus of elasticity and characteristic bending strength were the defining properties for class assignation.     

Typing artifacts in megamodeling

Model management is essential for coping with the complexity introduced by the increasing number and varied nature of artifacts involved in model-driven engineering-based projects. Global model management (GMM) addresses this issue by enabling the representation of artifacts, particularly transformation composition and execution, within a model called a megamodel. Type information about artifacts can be used for preventing type errors during execution. Built on our previous work, in this paper we present the core elements of a type system for GMM that improves its original typing approach and enables both typechecking and type inference on artifacts within a megamodel. This type system is able to deal with non-trivial situations such as the use of higher order transformations. We also present a prototypical implementation of such a type system.