Performance limitation due to statistical Raman crosstalk in a WDM system with multiple-wavelength bidirectionally pumped Raman amplification

A general theoretical model of statistical Raman crosstalk and its impact on system performance in a multiwavelength bidirectionally pumped Raman fiber amplifier (RFA) is developed for the first time, where we have taken modulation statistics, dispersion-induced pulse walk-off and signal-induced pump depletion into account. Two kinds of statistical Raman crosstalk, from signal-induced forward-pump depletion and from signal-signal Raman interaction, are included in one model. Formulas for normalized Raman crosstalk, Raman crosstalk-induced relative intensity noise spectral density, and its variance and system performance impact in terms of Q penalty are presented for both a single-span system and a dispersion-compensated multispan wavelength-division-multiplexed (WDM) link. Based on these formulas, we numerically investigate the impact of Raman crosstalk on system performance in a three-wavelengths bidirectionally pumped 40 /spl times/ 40-Gb/s WDM system for various fiber types. In addition, Raman crosstalk in a four-wavelength bidirectionally pumped RFA was experimentally measured. The results agree well with our theory.     

The costs and benefits of tonal centers for chord processing.

Harmonic priming studies have shown that a musical context, with its established tonal center, influences target chord processing. This study investigated costs and benefits of priming tonal centers for target processing by adding a baseline condition (sequences without a specific tonal center). Results confirmed harmonic priming, with faster processing for related than for unrelated and less related targets (tonic chord, out-of-key chord, subdominant chord). Comparing targets in baseline contexts with targets in sequences with well-established tonal centers revealed a benefit of processing for related targets but a cost of processing for unrelated and less related targets. Findings are discussed in terms of tonal knowledge activation and suggest that an activated tonal center gives rise to strong expectations for the tonic. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Video monitoring of pulverized coal injection in the blast furnace

A novel approach to monitoring and control of the coal powder injection in a blast furnace is presented and discussed. Image analysis of video recordings is used as a means to estimate the instantaneous coal flow. Initial experiments at blast furnace number 3 of SSAB Tunnplat AB, Lulea, Sweden, are reported and firsthand results on modeling and control of a single injection line are given     

Safety,Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV)

Several missions with an Unmanned Aerial Vehicle (UAV) in different realistic safety, security, and rescue field tests are presented. First, results from two safety and security missions at the 2009 European Land Robot Trials (ELROB) are presented. A UAV in form of an Airrobot AR100-B is used in a reconnaissance and in a camp security scenario. The UAV is capable of autonomous waypoint navigation using onboard GPS processing. A digital video stream from the vehicle is used to create photo maps—also known as mosaicking—in real time at the operator station. This mapping is done using an enhanced version of Fourier Mellin based registration, which turns out to be very fast and robust. Furthermore, results from a rescue oriented scenario at the 2010 Response Robot Evaluation Exercises (RREE) at Disaster City, Texas are presented. The registration for the aerial mosaicking is supplemented by an uncertainty metric and embedded into Simultaneous Localization and Mapping (SLAM), which further enhances the photo maps as main mission deliveries.     

Spectral registration of noisy sonar data for underwater 3D mapping

3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the 3D data.     

Validating the ISO/IEC 15504 measure of software requirementsanalysis process capability

ISO/IEC 15504 is an emerging international standard on software process assessment. It defines a number of software engineering processes and a scale for measuring their capability. One of the defined processes is software requirements analysis (SRA). A basic premise of the measurement scale is that higher process capability is associated with better project performance (i.e., predictive validity). The paper describes an empirical study that evaluates the predictive validity of SRA process capability. Assessments using ISO/IEC 15504 were conducted on 56 projects world-wide over a period of two years. Performance measures on each project were also collected using questionnaires, such as the ability to meet budget commitments and staff productivity. The results provide strong evidence of predictive validity for the SRA process capability measure used in ISO/IEC 15504, but only for organizations with more than 50 IT staff. Specifically, a strong relationship was found between the implementation of requirements analysis practices as defined in ISO/IEC 15504 and the productivity of software projects. For smaller organizations, evidence of predictive validity was rather weak. This can be interpreted in a number of different ways: that the measure of capability is not suitable for small organizations or that the SRA process capability has less effect on project performance for small organizations     

Merging Occupancy Grid Maps From Multiple Robots

Mapping can potentially be speeded up in a significant way by using multiple robots exploring different parts of the environment. But the core question of multirobot mapping is how to integrate the data of the different robots into a single global map. A significant amount of research exists in the area of multirobot mapping that deals with techniques to estimate the relative robots poses at the start or during the mapping process. With map merging, the robots in contrast individually build local maps without any knowledge about their relative positions. The goal is then to identify regions of overlap at which the local maps can be joined together. A concrete approach to this idea is presented in form of a special similarity metric and a stochastic search algorithm. Given two maps m and m', the search algorithm transforms m' by rotations and translations to find a maximum overlap between m and m'. In doing so, the heuristic similarity metric guides the search algorithm toward optimal solutions. Results from experiments with up to six robots are presented based on simulated as well as real-world map data.