Contact type dependency of texture classification in a whiskered mobile robot

Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object. On the other hand, finer discriminations appear to require knowledge of the target’s relative position and/or of the manner in which the whisker contact its surface. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

What levels of moral reasoning and values explain adherence to information security rules? An empirical study

It is widely agreed that employee non-adherence to information security policies poses a major problem for organizations. Previous research has pointed to the potential of theories of moral reasoning to better understand this problem. However, we find no empirical studies that examine the influence of moral reasoning on compliance with information security policies. We address this research gap by proposing a theoretical model that explains non-compliance in terms of moral reasoning and values. The model integrates two well-known psychological theories: the Theory of Cognitive Moral Development by Kohlberg and the Theory of Motivational Types of Values by Schwartz. Our empirical findings largely support the proposed model and suggest implications for practice and research on how to improve information security policy compliance.     

How to trust a few among many

The presence of numerous and disparate information sources available to support decision-making calls for efficient methods of harnessing their potential. Information sources may be unreliable, and misleading reports can affect decisions. Existing trust and reputation mechanisms typically rely on reports from as many sources as possible to mitigate the influence of misleading reports on decisions. In the real world, however, it is often the case that querying information sources can be costly in terms of energy, bandwidth, delay overheads, and other constraints. We present a model of source selection and fusion in resource-constrained environments, where there is uncertainty regarding the trustworthiness of sources. We exploit diversity among sources to stratify them into homogeneous subgroups to both minimise redundant sampling and mitigate the effect of certain biases. Through controlled experiments, we demonstrate that a diversity-based approach is robust to biases introduced due to dependencies among source reports, performs significantly better than existing approaches when sampling budget is limited and equally as good with an unlimited budget.     

Merging potentially inconsistent items of structured text

Structured text is a general concept that is implicit in a variety of approaches to handling information. Syntactically, an item of structured text is a number of grammatically simple phrases together with a semantic label for each phrase. Items of structured text may be nested within larger items of structured text. The semantic labels in a structured text are meant to parameterize a stereotypical situation, and so a particular item of structured text is an instance of that stereotypical situation. Much information is potentially available as structured text including tagged text in XML, text in relational and object-oriented databases, and the output from information extraction systems in the form of instantiated templates. In this paper, we formalize the concept of structured text, and then focus on how we can identify inconsistency in the logical representation of items of structured text. We then present a new framework for merging logical theories that can be employed to merge inconsistent items of structured text. To illustrate, we consider the problem of merging reports such as weather reports.     

Amperometric biosensor for formic acid in air

The possibility of developing a simple, inexpensive and specific personal passive “real-time” air sampler incorporating a biosensor for formic acid was investigated. The sensor is based on the enzymatic reaction between formic acid and formate dehydrogenase (FDH) with nicotinamide adenine dinucleotide (NAD⁺) as a co-factor and Meldola's blue as mediator. An effective way to immobilise the enzyme, co-factor and Meldola's blue on screen-printed, disposable, electrodes was found to be in a mixture of glycerol and phosphate buffer covered with a gas-permeable membrane. Steady-state current was reached after 4–15 min and the limit of detection was calculated to be below 1 mg/m³. However, the response decreased by 50% after storage at −15°C for 1 day.     

Automatic CoDec generation to reduce test engineering cost

TTCN-3 is an abstract language for specification of Abstract Test Suites. Coding of TTCN-3 values into physically transmittable messages and decoding of bitstrings into their TTCN-3 representation has been removed from the language itself and relayed to external and specialized components, called CoDec. CoDec development, either implicitly or explicitly, is a must in any TTCN-3 testing activity. Field experience showed that there is a high cost associated with CoDec development and maintenance. To achieve adequate software engineering practices, a set of types, tools and definitions were developed. This paper unveils gray areas in TTCN-3 architecture and presents a methodological approach to minimize the complexity of CoDec development. Even though the initial field of application is IPv6 testing, the main tool introduced—the CoDec Generator—is a valuable tool in any testing application domain. It is designed to lower the CoDec maintenance costs in all test case lifecycle stages, from development to maintenance. This work has been partly supported by the IST Go4IT European project: .     

Fracture resistance via topology optimization

The fracture resistance of structures is optimized using the level-set method. Fracture resistance is assumed to be related to the elastic energy released by a crack propagating in a normal direction from parts of the boundary that are in tension, and is calculated using the virtual crack extension technique. The shape derivative of the fracture-resistance objective function is derived. Two illustrative two-dimensional case studies are presented: a hole in a plate subjected to biaxial strain; and a bridge fixed at both ends subjected to a single load in which the compliance and fracture resistance are jointly optimized. The structures obtained have rounded corners and more material at places where they are in tension. Based on the results, we propose that fracture resistance may be modeled more easily but less directly by including a term proportional to surface area in the objective function, in conjunction with nonlinear elasticity where the Young’s modulus in tension is lower than in compression.     

Three-dimensional spinal motion and risk of low back injury during sheep shearing

Sheep shearers are known to work in sustained flexed postures and have a high prevalence of low back pain (LBP). As sustained posture and spinal movement asymmetry under substantial loads are known risk factors for back injury our aim was to describe the 3D spinal movement of shearers while working. We hypothesised that thoraco-lumbar and lumbo-sacral movement would be tri-axial, asymmetric, and task specific. Sufficient retro-reflective markers were placed on the trunk of 12 shearers to define thoraco-lumbar and lumbo-sacral 3D motion during three tasks. Thoraco-lumbar movement consistently involved flexion, left lateral flexion, and right rotation. Lumbo-sacral movement consistently involved right lateral flexion in flexion with minimal rotation. Shearers therefore work in sustained spinal flexion where concurrent, asymmetric spinal movements into both lateral flexion and rotation occur. These asymmetric movements combined with repetitive loading may be risk factors leading to the high incidence of LBP in this occupational group.     

Local or global minima: flexible dual-front active contours

Most variational active contour models are designed to find local minima of data-dependent energy functionals with the hope that reasonable initial placement of the active contour will drive it toward a "desirable" local minimum as opposed to an undesirable configuration due to noise or complex image structure. As such, there has been much research into the design of complex region-based energy functionals that are less likely to yield undesirable local minima when compared to simpler edge-based energy functionals whose sensitivity to noise and texture is significantly worse. Unfortunately, most of these more "robust" region-based energy functionals are applicable to a much narrower class of imagery compared to typical edge-based energies due to stronger global assumptions about the underlying image data. Devising new implementation algorithms for active contours that attempt to capture more global minimizers of already proposed image-based energies would allow us to choose an energy that makes sense for a particular class of energy without concern over its sensitivity to local minima. Such implementations have been proposed for capturing global minima. However, sometimes the completely-global minimum is just as undesirable as a minimum that is too local. In this paper, we propose a novel, fast, and flexible dual front implementation of active contours, motivated by minimal path techniques and utilizing fast sweeping algorithms, which is easily manipulated to yield minima with variable "degrees" of localness and globalness. By simply adjusting the size of active regions, the ability to gracefully move from capturing minima that are more local (according to the initial placement of the active contour/surface) to minima that are more global allows this model to more easily obtain "desirable" minimizers (which often are neither the most local nor the most global). Experiments on various 2D and 3D images and comparisons with some active contour models and region-growing methods are also given to illustrate the properties of this model and its performance in a variety of segmentation applications.     

A variational approach to problems in calibration of multiple cameras

This paper addresses the problem of calibrating camera parameters using variational methods. One problem addressed is the severe lens distortion in low-cost cameras. For many computer vision algorithms aiming at reconstructing reliable representations of 3D scenes, the camera distortion effects will lead to inaccurate 3D reconstructions and geometrical measurements if not accounted for. A second problem is the color calibration problem caused by variations in camera responses that result in different color measurements and affects the algorithms that depend on these measurements. We also address the extrinsic camera calibration that estimates relative poses and orientations of multiple cameras in the system and the intrinsic camera calibration that estimates focal lengths and the skew parameters of the cameras. To address these calibration problems, we present multiview stereo techniques based on variational methods that utilize partial and ordinary differential equations. Our approach can also be considered as a coordinated refinement of camera calibration parameters. To reduce computational complexity of such algorithms, we utilize prior knowledge on the calibration object, making a piecewise smooth surface assumption, and evolve the pose, orientation, and scale parameters of such a 3D model object without requiring a 2D feature extraction from camera views. We derive the evolution equations for the distortion coefficients, the color calibration parameters, the extrinsic and intrinsic parameters of the cameras, and present experimental results.