Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Synthesis, structure and magnetic properties of β-MnO 2 nanorods

We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO₂ nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO₂ material is covered by a thin surface layer (∼2.5 nm) of α-Mn₂O₃ phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO₂ nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition of bulk magnetic properties of spatially segregated β-MnO₂ and α-Mn₂O₃ constituent phases and the soft ferromagnetism of the thin interface layer between these two phases.     

Enabling customers engagement and collaboration for small and medium-sized enterprises in ubiquitous multi-channel ecosystems

Over the last few years, we have encountered an exponential growth in online communication opportunities. Organizations have more and more ways to connect and engage with their current or future customers. The existence of more opportunities in connecting to people can be both an enabler and a burden. Being present at a multitude of different channels requires the effective management of a very large number of adapted contents, formats, and interaction patterns fulfilling the communication and cooperation needs of distributed target groups. In this respect, we integrate existing fragmented communication and monitoring approaches into a full-fledged communication model as a basis for an adequate engagement approach. We describe applications of our approach in both the eTourism and manufacturing domain. In this paper, we introduce an approach that will enable communication, collaboration and value exchange of users through a multitude of online interaction possibilities based on the use of semantic technology. Finally, we also compare our approach with existing solutions with respect to the identified challenges in this subject.     

Scalable Realistic Rendering with Many‐Light Methods

Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering.     

A new set distance and its application to shape registration

We propose a new distance measure, called Complement weighted sum of minimal distances, between finite sets in ${\mathbb Z }^n$ and evaluate its usefulness for shape registration and matching. In this set distance the contribution of each point of each set is weighted according to its distance to the complement of the set. In this way, outliers and noise contribute less to the new similarity measure. We evaluate the performance of the new set distance for registration of shapes in binary images and compare it to a number of often used set distances found in the literature. The most extensive evaluation uses a set of synthetic 2D images. We also show three examples of real problems: registering a set of 2D images extracted from synchrotron radiation micro-computed tomography (SR $\upmu $ CT) volumes depicting bone implants; the difficult multi-modal registration task of finding the exact location of a 2D slice of a bone implant, as imaged by a light microscope, within a 3D SR $\upmu $ CT volume of the same implant; and finally recognition of handwritten characters. The evaluation shows that our new set distance performs well for all tasks and outperforms the other observed distance measures in most cases. It is therefore useful in many image registration and shape comparison tasks.     

Photocatalytic degradation rate of oxalic acid on the semiconductive layer of n-TiO2 particles in the batch mode plate reactor Part I: Mass transfer limits

Organic compounds dissolved in water can be decomposed on a layer of n-TiO2 particles irradiated by u.v. light, which generates holes and electrons in the TiO2 material. Dissolved oxygen was used as electron scavenger and holes reacted with water to give OH radicals. The rate of degradation of the dissolved organic compounds by OH radicals is limited by the transfer of either oxygen or of theorganic compounds to the surface of n-TiO2 particles. The consequence of these limits is that, in the batch mode reactor with recirculation of the liquid, the dependence of the concentration of an organic compound on time has either a linear or an exponential form. Experiments with decomposition of oxalic acid in aqueous solutions using a plate reactor (60 cm × 120 cm) confirmed the analysis. Equations for evaluation of the mass transfer coefficient of the dissolved species to the surface of the plate reactor with a moving liquid fil m were developed for the case of the thickness of the Nernst diffusion layer being thinner than the thickness of the liquid. The experimentally obtained decomposition rate of oxalic acid was about 60 to 80% of the theoretical decomposition rate limited by oxygen flux through the film of a moving liquid. The present theory neglects the diffusion of oxygen into the porous layer of n-TiO2.     

Theory of porous electrodes—XI. The positive plate of the lead-acid battery

Partial differential equations describing the transport of mass and electricity in the pores of the positive electrode of a lead acid battery were derived. The theory is based on exact transport equations and on the assumption that the solid porous matrix has a metallic conductivity. Volume changes in both phases are taken into account. Numerical solutions obtained on a computer are presented for the case where the influence of electrolyte between the electrodes can be neglected. The solutions depend on the product of electrode thickness times current density, and on the initial porosity.     

The potentiometric behaviour of copolymers of methacrylic acid in water-ethanol solutions

Summary The synthesis is reported of copolymers of styrene with methacrylic acid and of methyl methacrylate with methacrylic acid by radical copolymerization, of copolymers of methyl methacrylate with methacrylic acid by partial alkaline hydrolysis of poly(methyl methacrylate), and of block copolymers of styrene with methacrylic acid. Modified titration curves of all these copolymers were recorded in water and water-ethanol solutions. In a solution containing 50 mass.% ethanol, only small differences could be observed between the potentiometric behaviour of the individual copolymers and polymethacrylic acid. Also, there were no essential differences in any of the solvents used between the potentiometric behaviour of block copolymers of styrene with methacrylic acid, on the one hand, and polymethacrylic acid, on the other. On the contrary, maxima and minima were always observed on the modified titration curves of statistical copolymers with a higher content of the hydrophobic comonomer in solutions with a high water content. Thus, using the modified titration curves, it is possible to decide whether a given copolymer is of the block or statistical type.     

Fusion of smartphone sensor data for classification of daily user activities

Multimedia Tools and Applications - New mobile applications need to estimate user activities by using sensor data provided by smart wearable devices and deliver context-aware solutions to users...