A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.     

A Strategy of Density-Based Partitioning for Scalability Problem in Network Self-management

A density-based partitioning strategy is proposed for large domain networks in order to deal with the scalability issue found in autonomic networks considering, as a scenario, the autonomic Quality of Service （QoS） management context. The approach adopted focus as on obtaining dense network partitions having more paths for a given vertices set in the domain. It is demonstrated that dense partitions improve autonomic processing scalability, for instance, reducing routing process complexity. The solution looks for a significant trade-off between partition autonomic algorithm execution time and path selection quality in large domains. Simulation scenarios for path selection execution time are presented and discussed. Authors argue that autonomic networks may benefit from the dense partition approach proposed by achieving scalable, efficient and near real-time support for autonomic management systems.     

Generative face alignment through 2.5D active appearance models

This work addresses the matching of a 3D deformable face model to 2D images through a 2.5D Active Appearance Models (AAM). We propose a 2.5D AAM that combines a 3D metric Point Distribution Model (PDM) and a 2D appearance model whose control points are defined by a full perspective projection of the PDM. The advantage is that, assuming a calibrated camera, 3D metric shapes can be retrieved from single view images. Two model fitting algorithms and their computational efficient approximations are proposed: the Simultaneous Forwards Additive (SFA) and the Normalization Forwards Additive (NFA), both based on the Lucas–Kanade framework. The SFA algorithm searches for shape and appearance parameters simultaneously whereas the NFA projects out the appearance from the error image and searches only for the shape parameters. SFA is therefore more accurate. Robust solutions for the SFA and NFA are also proposed in order to take into account the self-occlusion or partial occlusion of the face. Several performance evaluations for the SFA, NFA and theirs efficient approximations were performed. The experiments include evaluating the frequency of converge, the fitting performance in unseen data and the tracking performance in the FGNET Talking Face sequence. All results show that the 2.5D AAM can outperform both the 2D + 3D combined models and the 2D standard methods. The robust extensions to occlusion were tested on a synthetic sequence showing that the model can deal efficiently with large head rotation.     

Inverse analysis procedure to determine flow stress and friction data for finite element modeling of machining

This paper describes an inverse procedure to determine the constitutive constants and the friction conditions in the machining processes using Finite Elements (FE) simulations. In general, the FE modeling of machining processes is an effective tool to analyze the materials machinability under different cutting conditions. However, the use of reliable rheological and friction models represents the basis of a correct numerical investigation. The presented inverse procedure was based on the numerical results obtained using a commercial FE code and was developed considering a specific optimization problem, in which the objective functions that have to be minimized is the experimental/numerical error. This problem was performed by a routine developed in a commercial optimization software. In order to verify the goodness and the robustness of the methodology, it was applied on a Super Duplex Stainless Steel (SDSS) and on an Austenitic Stainless Steel (AUSS) orthogonal machining processes. This work, then, was focused on the identification of the Johnson-Cook (JC) coefficients (A,B,C, n and m) and on the calibration of a Coulomb friction model, in the specific cases of the SAF2507 SDSS and of an AISI 316 Based AUSS Alloy (AISI 316 ASBA). The identification phases were performed considering forces and temperatures experimental data, collected in two specific experimental tasks in which different orthogonal cutting tests were carried out under different cutting parameters conditions.     

Resonance-valence-bond superconductivity in CuO2 planes

We find the exact ground state of a system of 4 × 4 unit cells described by an effective model for cuprate superconductors. The model has the form of the t - J one, but includes a three-site term t like that derived from the Hubbard model in the large U limit, but of opposite sign for realistic or large O-O hopping. For t > t_c (where t_c/t 0.1 for realistic J and doping) the system undergoes a transition to a phase in which the ground state has a significant overlap with a very simple superconducting resonance-valence-bond (RVB) wave function. In the RVB phase there is a large increase of the d-wave superconducting susceptibility. We calculate the boundary of the RVB phase.     

Performance analysis of available bandwidth estimation tools for grid networks

Modern large-scale grid computing systems for processing advanced science and engineering applications rely on geographically distributed clusters. In such highly distributed environments, estimating the available bandwidth between clusters is a key issue for efficient task scheduling. We analyze the performance of two well known available bandwidth estimation tools, pathload and abget, with the aim of using them in grid environments. Differently than previous investigations (Jain et al., ; Shriram et al., in Passive and active network measurement: 6th international workshop, PAM 2005. Springer, Berlin, 2005), our experiments consider a series of relevant metrics such as accuracy of the estimation, convergence time, degree of intrusion in the grid links, and ability to handle multiple simultaneous estimations. No previous work has analyzed the use of available bandwidth tools for the derivation of efficient grid scheduling.     

Error Analysis for hp-FEM Semi-Lagrangian Second Order BDF Method for Convection-Dominated Diffusion Problems

We present in this paper an analysis of a semi-Lagrangian second order Backward Difference Formula combined with hp-finite element method to calculate the numerical solution of convection diffusion equations in ℝ². Using mesh dependent norms, we prove that the a priori error estimate has two components: one corresponds to the approximation of the exact solution along the characteristic curves, which is O(Dt²+h^m+1(1+\frac\mathopen|logh|Dt))O(\Delta t^{2}+h^{m+1}(1+\frac{\mathopen{|}\log h|}{\Delta t})); and the second, which is O(Dt^p+|| [(u)\vec]-[(u)\vec]_h||_L^￥)O(\Delta t^{p}+\| \vec{u}-\vec{u}_{h}\|_{L^{\infty}}), represents the error committed in the calculation of the characteristic curves. Here, m is the degree of the polynomials in the finite element space, [(u)\vec]\vec{u} is the velocity vector, [(u)\vec]_h\vec{u}_{h} is the finite element approximation of [(u)\vec]\vec{u} and p denotes the order of the method employed to calculate the characteristics curves. Numerical examples support the validity of our estimates.     

Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on the sensor readings of an Ultra-short Baseline (USBL) acoustic array system and a Doppler Velocity Log (DVL). The proposed methodology is based on an equivalent linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Numerical results using Monte Carlo simulations and comparison to the Bayesian Cramér Rao Bound (BCRB) reveal that the performance of the proposed filter is tight to this theoretical estimation error lower bound. In comparison with other approaches, the present solution achieves the same level of performance of the Extended Kalman Filter (EKF), which does not offer GAS guarantees, and outperforms other classical filtering approaches designed in inertial coordinates instead of the body-fixed coordinate frame.     

A computational approach to implicit entities and events in text and discourse

In this paper we will focus on the notion of “implicit” or lexically unexpressed linguistic elements that are nonetheless necessary for a complete semantic interpretation of a text. We refer to “entities” and “events” because the recovery of the implicit material may affect all the modules of a system for semantic processing, from the grammatically guided components to the inferential and reasoning ones. Reference to the system GETARUNS offers one possible implementation of the algorithms and procedures needed to cope with the problem and enables us to deal with all the spectrum of phenomena. The paper will address at first the following three types of “implicit” entities and events:

the grammatical ones, as suggested by a linguistic theories like LFG or similar generative theories;

the semantic ones suggested in the FrameNet project, i.e. CNI, DNI, INI;

the pragmatic ones: here we will present a theory and an implementation for the recovery of implicit entities and events of (non-) standard implicatures.

In particular we will show how the use of commonsense knowledge may fruitfully contribute to find relevant implied meanings. Last Implicit Entity only touched on, though for lack of space, is the Subject of Point of View, which is computed by Semantic Informational Structure and contributes the intended entity from whose point of view a given subjective statement is expressed.