On visual servoing based on efficient second order minimization

This paper deals with the Efficient Second order Minimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) [22] that ESM generally improves the system behavior when compared with the system in which only the simple Jacobian Pseudo-inverses are used. Subsequently, a mathematical explanation has been given in Malis (2004) [12]. In this paper, the proofs given by Malis are discussed and it will be shown that there is a limitation to the validity of the ESM. We will also show that the use of ESM does not necessarily ensure a better system behavior, especially in the situations where large rotational motions are involved. Further, a new appropriate formula of the ESM is proposed and validated using several kinds of features.     

Ant colony algorithm for automotive safety integrity level allocation

ISO 26262, the new automotive functional safety standard, aims to foster the design and development of safe products by ensuring that the risks posed by hazardous components are reduced to a residual level. Therefore, the standard defines and uses the concept of Automotive Safety Integrity Levels (ASILs) that classify the strictness of safety requirements to be assigned to the failure modes of the system based on the hazard they may cause. ASIL allocation can be described as a hard optimization problem focused on finding the optimal ASIL allocation that maximizes the safety requirements and minimizes cost. However, finding this optimal allocation among a set of possible allocations can represent a difficult task in large systems that contain a large number of components, which subsequently increases the search space. In this paper, we introduce a novel approach that uses the nature-inspired meta-heuristic Ant Colony Optimization (ACO) algorithm to solve the ASIL allocation problem and makes use of strategies that reduce the solution space. The problem was formulated as a construction graph, which the ants use to construct possible ASIL allocations. The search space reduction is accelerated considerably by both the effective performance of the ACO and the convergence of the algorithm on the optimal solution. This approach has been evaluated by applying it to a hybrid braking system and a steer-by-wire system. The results show a significant improvement over genetic-based, penguins search-based and tabu search-based approaches.     

Tribological behavior of composites fabricated by reactive SPS sintering in Ti-Si-C system

In this study, wear and friction behavior of two based-composites from the Ti-Si-C system, (40 wt% TiC; 28 wt% Ti₅Si₃; 17 wt% Ti₃SiC₂) and (18 wt% TiC; 26 wt% Ti₅Si₃; 41 wt% Ti₃SiC₂) reinforced by 15 wt% of large size SiC (100-150 µm) particles were investigated. The four-phase composites exhibited approximatively the same friction coefficient (µ ~ 0.9) under high loads (10 N and 7 N). The composite with high Ti₃SiC₂ showed higher wear rate values by one order of magnitude. However, under 1 N, the composite with high TiC content showed a higher running-in period and a lower steady state µ value (0.37 after 1000 m sliding distance). Scanning electron microscopy, Energy Dispersive X-Ray and Raman spectroscopy analysis of the worn surfaces of the two composites revealed that oxidation was the dominant wear mechanism. The oxidation process and the removal kinetics of the oxides during sliding controlled the tribological behavior of the composites. The influence of processing variables on microstructures development and wear mechanisms of the composites is discussed.     

On the stochastic timed Pétri nets model and its application to the DQDB protocol

The goal of this paper is twofold : at first, to present the stochastic timed Pétri nets model by emphasizing its ability to express the main characteristics of real time distributed systems (parallelism, synchronization by message exchange, time attributes and in particular time constraints) and to allow both qualitative and quantitative analysis (concept of randomized states graph); second, to show a modeling methodology based on this model that allows a rigorous modeling of theDqdb protocol (Qa access, bwb mechanism role,Pa access influence). A new contribution to theQa mechanism has been done (1).     

An Overview of the Approaches for Automotive Safety Integrity Levels Allocation

Journal of Failure Analysis and Prevention - ISO 26262, titled Road Vehicles–Functional Safety, is the new automotive functional safety standard for passenger vehicle industry. In order to...     

Exploring the main building blocks of SOA method: SOA maturity model perspective

The most successful enterprises plan its SOA adoption process as a series of maturity stages, where each stage acts as a foundation for the next. Various SOA maturity models (SOAMMs) are available to judge the current level of SOA adoption maturity of an enterprise. However, only a very few models review the formal use of SOA methods in the maturity assessment process. In this work, the SOAMMs are evaluated in terms of how they assess the methodological aspects of SOA adoption at each level of maturity. Based on methodical features, we introduce a set of building blocks for different maturity levels to assist the method engineers in SOA method definition. Welke’s SOAMM is selected as a base model to derive maturity guidelines for SOA methods. This work establishes the role of SOAMM in realizing the true potential of SOA and discusses why CMMI models are inapplicable to assess SOA adoption maturity. The main intention of this work is to develop a conceptual framework that describes the building block of SOA methods at different levels of maturity, including their processes, tools and technologies, and sourcing mechanisms. We adopt a real case study to determine the maturity level of SOA methodology dimension and to demonstrate how SOA adoption maturity can be improved by focusing on the methodical building blocks identified.     

Using New Hybrid Integrators to Design IIR Fractional-Order Integrators via Impulse Invariance Method

This paper presents a method for designing fullband and non-fullband IIR digital integrators with linear phase that has been used to approximate fractional-order integrators with IIR filters. Several numerical integration rules have been considered in this study, namely, Euler, Simpson, Schneider, bilinear, and F₀₁₂. The main idea in our design is based on interpolating the well-known integration rules (Euler, Bilinear and Simpson) proposed by Al-Alaoui combined with deterministic signal modeling techniques. Numerical examples are presented to illustrate the performance of the proposed integrators. It was found that the Euler–Simpson integrator gives better approximation accuracy than existing integrators.     

Robust image-based visual servoing using invariant visual information

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.     

Liquefaction hazard mapping in the city of Boumerdès,Northern Algeria

The city of Boumerdès, located in Northern Algeria, was badly affected during the May 21, 2003 Zemmouri (Mw = 6.8) earthquake where extensive liquefaction has been reported. The aim of this paper is to assess and to map the liquefaction potential for Boumerdès. We collected and used data from 154 boreholes, 10 down-hole tests, 56 standard penetrations tests (SPT), and inventory of 35 water level points. This data has been analyzed in the framework of geographical information systems (GIS). We assessed the liquefaction potential index (LPI) by considering a seismic hazard scenario corresponding to a_max = 0.48 g calculated, using a probabilistic approach, for a return period of 500 years. LPI values have been correlated to compile the liquefaction hazard map that indicates the quantitative characteristics of the liquefiable layers and the induced disruption probability area. Results show that the main part of the city of Boumerdès belongs to a low liquefaction potential area except for a narrow corridor along the Corso waterway, where the liquefaction potential is moderate to high. The obtained results are compatible with the geological, geotechnical and hydrogeological susceptibility to liquefaction of the area. The results also show a good agreement with the observations made after the May 21, 2003 Zemmouri earthquake. The obtained liquefaction hazard maps may serve as useful tools for land management and planning in the city of Boumerdès and as an example of liquefaction hazard assessment that may be applied in other populated cities in northern Algeria’s seismic prone areas.     

Characterization and transformation of the <Emphasis Type="Italic">Opuntia ficus indica</Emphasis> fruits

Opuntia ficus indica fruits have been associated with health effects, due to their protective actions against oxidation. Nevertheless, few studies about processing of Opuntia fruits are available’; therefore, we studied the pulp characteristics and processing of a local variety, for producing beverage nectars. The pulp had an average pH of 5.64, 13.47 °Brix, with total sugars (106 g L^?1), K (1180 mg L^?1), 503.3 µg L^?1 of β carotene, 120 mg L^?1 of total phenolic compounds, 4.9 mg and 46.9 mg L^?1 respectively for betacyanins and betaxanthins and 243.4 mg L^?1 of vitamin C. The formulated nectars with 35% of pulp (N35) and 45% of pulp (N45) had respectively 14 and 15 °Brix. Minor components represent 1109 and 1112 mg L^?1 of K for N35 and N45 respectively, β carotene (318.6 µg and 362.8 µg L^?1), and vitamin C 227 and 231 mg L^?1. We confirmed the stability and acceptability of these beverages after a month of storage, after stability and panel tests. Therefore, we suggest that the pulp processing can be used as a new form of agro industrial utilization of this underutilized fruit.