Control of Robot Manipulators in Terms of Quasi-Velocities

In this paper we present new control algorithms for robots with dynamics described in terms of quasi-velocities (Kozłowski, Identification of articulated body inertias and decoupled control of robots in terms of quasi-coordinates. In: Proc. of the 1996 IEEE International Conference on Robotics and Automation, pp. 317–322. IEEE, Piscataway, 1996a; Zeitschrift für Angewandte Mathematik und Mechanik 76(S3):479–480, 1996c; Robot control algorithms in terms of quasi-coordinates. In: Proc. of the 34 Conference on Decision and Control, pp. 3020–3025, Kobe, 11–13 December 1996, 1996d). The equations of motion are written using spatial quantities such as spatial velocities, accelerations, forces, and articulated body inertia matrices (Kozłowski, Standard and diagonalized Lagrangian dynamics: a comparison. In: Proc. of the 1995 IEEE Int. Conf. on Robotics and Automation, pp. 2823–2828. IEEE, Piscataway, 1995b; Rodriguez and Kreutz, Recursive Mass Matrix Factorization and Inversion, An Operator Approach to Open- and Closed-Chain Multibody Dynamics, pp. 88–11. JPL, Dartmouth, 1998). The forward dynamics algorithms incorporate new control laws in terms of normalized quasi-velocities. Two cases are considered: end point trajectory tracking and trajectory tracking algorithm, in general. It is shown that by properly choosing the Lyapunov function candidate a dynamic system with appropriate feedback can be made asymptotically stable and follows the desired trajectory in the task space. All of the control laws have a new architecture in the sense that they are derived, in the so-called quasi-velocity and quasi-force space, and at any instant of time generalized positions and forces can be recovered from order recursions, where denotes the number of degrees of freedom of the manipulator. This paper also contains the proposition of a sliding mode control, originally introduced by Slotine and Li (Int J Rob Res 6(3):49–59, 1987), which has been extended to the sliding mode control in the quasi-velocity and quasi-force space. Experimental results illustrate behavior of the new control schemes and show the potential of the approach in the quasi-velocity and quasi-force space. Authors are with Chair of Control and Systems Engineering.     

Mobile Robot Navigation Using Sonar and Range Measurements from Uncalibrated Cameras

A novel, simple and efficient method for vision based range measurements with uncalibrated cameras is presented. Required parameters are the image size, the relative distance between two different image frames of the same scene and the field of view of the camera(s). Range measurements acquired using ultrasonic sensors and a vision system have been used to navigate a mobile robot around known colored obstacles in an indoor environment. Both sonar sensors and cameras are activated and they operate simultaneously in parallel to obtain range measurements from common search areas located in the front of the mobile robot. Experimental results using a parallel stereoscopic, rotated and monocular vision system with uncalibrated cameras confirm that the maximum computational error (as well as the normalized root mean square error) of range measurements using the vision system for obstacles lying at a distance of 27–800 cm from the robot, is smaller compared to other similar, even more advanced and state-of-the-art existing approaches, reported in Rajagopalan (IEEE Trans. Pattern Anal. Mach. Intell., 28(11): 1521–1525, 2004), Mudenagudi and Chaudhuri (Proceedings of IEEE International Conference on Computer Vision, 1: 483–488, 1999), Umeda and Takahashi (Proceedings of IEEE ICRA, pp. 3215–3220, April 2000), Jiang and Weymouth (Proceedings of IEEE CVPR, pp. 250–255, June 1989), Lai, Fu, and Chang (IEEE Trans. Pattern Anal. Mach. Intell., 14(4):405–411, 1992), Malis and Rives (Proceedings of IEEE ICRA, pp. 1056–1061, 2003), Derrouich, Izumida, and Shiiya (IEEE Annual Conference on IECON, 3: 2191–2196, Nov. 2002).     

Efficient RNTS system for privacy of banking off-line customer

With the development in IT technology and with growing demands of users, a ubiquitous environment is being made. Because individual identification is important in ubiquitous environment, RFID technology would be used frequently. RFID is a radio frequency identification technology to replace bar code. The reader transmits query (request of user information) and tag-provides user information. RFID has various advantages, such as high speed identification rates, mass memory storages. However, eavesdropping is possible as well as a problem that user information is exposed (Juels et al. in Conference on Computer and Communications Security—ACM CCS, pp. 103–111, 2003; Ohkubo et al. in RFID Privacy Workshop 2003; Weis et al. in International Conference on Security in Pervasive Computing, pp. 201–212, 2003; Weis et al. in Cryptographic Hardware and Embedded Systems—CHES, pp. 454–469, 2002). Therefore, when off-line customer had visited bank for banking service, RNTS (RFID number ticket service) system provides both anonymity in customer identification and efficiency of banking service. In addition, RNTS system protects privacy of an off-line user visiting the bank and it is an efficient method offering service in order of arriving in the bank.     

Population Shape Regression from Random Design Data

Regression analysis is a powerful tool for the study of changes in a dependent variable as a function of an independent regressor variable, and in particular it is applicable to the study of anatomical growth and shape change. When the underlying process can be modeled by parameters in a Euclidean space, classical regression techniques (Hardle, Applied Nonparametric Regression, 1990; Wand and Jones, Kernel Smoothing, 1995) are applicable and have been studied extensively. However, recent work suggests that attempts to describe anatomical shapes using flat Euclidean spaces undermines our ability to represent natural biological variability (Fletcher et al., IEEE Trans. Med. Imaging 23(8), 995–1005, 2004; Grenander and Miller, Q. Appl. Math. 56(4), 617–694, 1998).     

Orientation contrast sensitive cells in primate V1 <Emphasis Type="Italic">a computational model</Emphasis>

Many cells in the primary visual cortex respond differently when a stimulus is placed outside their classical receptive field (CRF) compared to the stimulus within the CRF alone, permitting integration of information at early levels in the visual processing stream that may play a key role in intermediate-level visual tasks, such a perceptual pop-out [Knierim JJ, van Essen DC (1992) J Neurophysiol 67(5):961–980; Nothdurft HC, Gallant JL, Essen DCV (1999) Visual Neurosci 16:15–34], contextual modulation [Levitt JB, Lund JS (1997) Nature 387:73–76; Das A, Gilbert CD (1999) Nature 399:655–661; Dragoi V, Sur M (2000) J Neurophysiol 83:1019–1030], and junction detection [Sillito AM, Grieve KL, Jones HE, Cudiero J, Davis J (1995) Nature 378:492–496; Das A, Gilbert CD (1999) Nature 399:655–661; Jones HE, Wang W, Sillito AM (2002) J Neurophysiol 88:2797–2808]. In this article, we construct a computational model in programming environment TiViPE [Lourens T (2004) TiViPE—Tino’s visual programming environment. In: The 28th Annual International Computer Software & Applications Conference, IEEE COMPSAC 2004, pp 10–15] of orientation contrast type of cells and demonstrate that the model closely resembles the functional behavior of the neuronal responses of non-orientation (within the CRF) sensitive 4Cβ cells [Jones HE, Wang W, Sillito AM (2002) J Neurophysiol 88:2797–2808], and give an explanation of the indirect information flow in V1 that explains the behavior of orientation contrast sensitivity. The computational model of orientation contrast cells demonstrates excitatory responses at edges near junctions that might facilitate junction detection, but the model does not reveal perceptual pop-out.     

Provably Fast Training Algorithms for Support Vector Machines

Support Vector Machines are a family of algorithms for the analysis of data based on convex Quadratic Programming. We derive randomized algorithms for training SVMs, based on a variation of Random Sampling Techniques; these have been successfully used for similar problems. We formally prove an upper bound on the expected running time which is quasilinear with respect to the number of data points and polynomial with respect to the other parameters, i.e., the number of attributes and the inverse of a chosen soft margin parameter. [This is the combined journal version of the conference papers (Balcázar, J.L. et al. in Proceedings of 12th International Conference on Algorithmic Learning Theory (ALT’01), pp. 119–134, [2001]; Balcázar, J.L. et al. in Proceedings of First IEEE International Conference on Data Mining (ICDM’01), pp. 43–50, [2001]; and Balcázar, J.L. et al. in Proceedings of SIAM Workshop in Discrete Mathematics and Data Mining, pp. 19–29, [2002]).] The first and the fourth authors started this research while visiting the Centre de Recerca Matemàtica of the Institute of Catalan Studies in Barcelona. The first author was supported by IST Programme of the EU under contract number IST-1999-14186 (ALCOM-FT), Spanish Government TIC2004-07925-C03-02, and CIRIT 2001SGR-00252. The second author conducted this research while she was with Department of Mathematical and Computing Sciences, Tokyo Institue of Technology, and was supported by a Grant-in-Aid (C-13650444) from Japanese Goverment. The fourth author was supported in part by a Grant-in-Aid for Scientific Research on Priority Areas “Discovery Science” 1998–2000 from Japanese Goverment.     

Edge Pricing of Multicommodity Networks for Selfish Users with Elastic Demands

We examine how to induce selfish heterogeneous users in a multicommodity network to reach an equilibrium that minimizes the social cost. In the absence of centralized coordination, we use the classical method of imposing appropriate taxes (tolls) on the edges of the network. We significantly generalize previous work (Yang and Huang in Transp. Res. Part B 38:1–15, [2004]; Karakostas and Kolliopoulos in Proceedings of the 45th Annual IEEE Symposium on Foundations of Computer Science, pp. 268–276, [2004]; Fleischer et al. in Proceedings of the 45th Annual IEEE Symposium on Foundations of Computer Science, pp. 277–285, [2004]) by allowing user demands to be elastic. In this setting the demand of a user is not fixed a priori but it is a function of the routing cost experienced, a most natural assumption in traffic and data networks. Research supported by MITACS and a NSERC Discovery grant.     

Prosodic rules for schwa-deletion in hindi text-to-speech synthesis

Consonants in written Hindi often carry annotations indicating the nature of the following vowel, which is not written separately. When there is no explicit marking, schwa is the default vowel, but this vowel does not always emerge in a word’s pronunciation. In addition, morphological boundaries can block the deletion of inherent schwas. Previous implementations of schwa deletion in the domain of text-to-speech synthesis (Narasimhan et al., International Journal of Speech Technology, 7(4):319–333, 2004; Choudhury and Basu, Proceedings of the International Conference on Knowledge-Based Computer Systems, 343–353, 2002) delete schwa in phonetic environments that obey the phonotactic constraints of Hindi within word boundaries. Instead of using segmental contexts, in conjunction with a morphological analysis, to predict schwa deletion, we used an account of syllable structure and stress assignment for two- and three-syllable words (Beckman and Pierrehumbert, forthcoming) to predict the presence and absence of schwa in a corpus of phonetically transcribed Hindi. Our algorithm scored as high as 95% accuracy on the deletion of schwa from a small corpus of Hindi words.     

Using Biologically Inspired Features for Face Processing

In this paper, we show that a new set of visual features, derived from a feed-forward model of the primate visual object recognition pathway proposed by Riesenhuber and Poggio (R&P Model) (Nature Neurosci. 2(11):1019–1025, 1999) is capable of matching the performance of some of the best current representations for face identification and facial expression recognition. Previous work has shown that the Riesenhuber and Poggio Model features can achieve a high level of performance on object recognition tasks (Serre, T., et al. in IEEE Comput. Vis. Pattern Recognit. 2:994–1000, 2005). Here we modify the R&P model in order to create a new set of features useful for face identification and expression recognition. Results from tests on the FERET, ORL and AR datasets show that these features are capable of matching and sometimes outperforming other top visual features such as local binary patterns (Ahonen, T., et al. in 8th European Conference on Computer Vision, pp. 469–481, 2004) and histogram of gradient features (Dalal, N., Triggs, B. in International Conference on Computer Vision & Pattern Recognition, pp. 886–893, 2005). Having a model based on shared lower level features, and face and object recognition specific higher level features, is consistent with findings from electrophysiology and functional magnetic resonance imaging experiments. Thus, our model begins to address the complete recognition problem in a biologically plausible way.     

Ontology-driven coordination model for multiagent-based mobile workforce brokering systems

Coordination has been recognized by many researchers as the most important feature of multi-agent systems. Coordination is defined as managing interdependencies amongst activities (Malone and Crowston in ACM Comput. Surv. 26(1):87–119, 1994). The traditional approach of implementing a coordination mechanism is to hard-wire it into a coordination system at design time. However, in dynamic and open environments, many attributes of the system cannot be accurately identified at the design time. Therefore, dynamic coordination, capable of coordinating activities at run-time, has emerged. On the other hand, a successful dynamic coordination model for multi-agent systems requires knowledge sharing as well as common vocabulary. Therefore, an ontological approach is an appropriate way in proposing dynamic coordination models for multi-agent systems. In this paper, an Ontology-Driven Dynamic Coordination Model (O-DC) for Multiagent-Based Mobile Workforce Brokering Systems (MWBS) (Mousavi et al. in Int. J. Comput. Sci. 6:(5):557–565, 2010; Mousavi et al. in Proceedings of 4th IEEE international symposium on information technology, ITSim’10, Kuala Lumpur, Malaysia, 15–17 June 2010, vol. 3, pp. 1416–1421, 2010; Mousavi and Nordin in Proceedings of the IEEE international conference on electrical engineering and informatics, Bandung, Indonesia, 17–19 June 2007, pp. 294–297, 2007) is proposed and formulated. Subsequently, the applicability of O-DC is examined via simulation based on a real-world scenario.     

An earlier time for inserting and/or accelerating tasks

In a periodic real-time system scheduled by the EDF (Earliest Deadline First) algorithm (Liu and Layland, J. ACM 20(1), 40–61, 1973; Barauh, Proc. of the 27th IEEE International Real-Time Systems Symposium, 379–387, 2006; Buttazzo, J. Real-Time Syst. 29(1), 5–26, 2005), when new tasks have to be inserted into the system at run-time and/or current tasks request to increase their rates in response to internal or external events, the new sum of the utilizations after the insertion and/or acceleration should be limited, otherwise, one or more current tasks should usually be compressed (their periods being prolonged) in order to avoid overload. Buttazzo offered a time from which on this kind of adjustment can be done without causing any deadline miss in the system (Buttazzo et al., IEEE Trans. Comput. 51(3), 289–302, 2002). It is, however, not early enough. In this paper, an earlier time is given and formally proved.

A face emotion tree structure representation with probabilistic recursive neural network modeling

This paper describes a novel structural approach to recognize the human facial features for emotion recognition. Conventionally, features extracted from facial images are represented by relatively poor representations, such as arrays or sequences, with a static data structure. In this study, we propose to extract facial expression features vectors as Localized Gabor Features (LGF) and then transform these feature vectors into FacE Emotion Tree Structures (FEETS) representation. It is an extension of the Human Face Tree Structures (HFTS) representation presented in (Cho and Wong in Lecture notes in computer science, pp 1245–1254, 2005). This facial representation is able to simulate as human perceiving the real human face and both the entities and relationship could contribute to the facial expression features. Moreover, a new structural connectionist architecture based on a probabilistic approach to adaptive processing of data structures is presented. The so-called probabilistic based recursive neural network (PRNN) model extended from Frasconi et al. (IEEE Trans Neural Netw 9:768–785, 1998) is developed to train and recognize human emotions by generalizing the FEETS representation. For empirical studies, we benchmarked our emotion recognition approach against other well known classifiers. Using the public domain databases, such as Japanese Female Facial Expression (JAFFE) (Lyons et al. in IEEE Trans Pattern Anal Mach Intell 21(12):1357–1362, 1999; Lyons et al. in third IEEE international conference on automatic face and gesture recognition, 1998) database and Cohn–Kanade AU-Coded Facial Expression (CMU) Database (Cohn et al. in 7th European conference on facial expression measurement and meaning, 1997), our proposed system might obtain an accuracy of about 85–95% for subject-dependent and subject-independent conditions. Moreover, by testing images having artifacts, the proposed model significantly supports the robust capability to perform facial emotion recognition.     

Specification and encoding of transaction interaction properties

Transaction-level modeling is used in hardware design for describing designs at a higher level compared to the register-transfer level (RTL) (e.g. Cai and Gajski in CODES+ISSS ’03: proceedings of the 1st IEEE/ACM/IFIP international conference on Hardware/software codesign and system synthesis, pp. 19–24, 2003; Chen et al. in FMCAD ’07: proceedings of the formal methods in computer aided design, pp. 53–61, 2007; Mahajan et al. in MEMOCODE ’07: proceedings of the 5th IEEE/ACM international conference on formal methods and models for codesign, pp. 123–132, 2007; Swan in DAC ’06: proceedings of the 43rd annual conference on design automation, pp. 90–92, 2006). Each transaction represents a unit of work, which is also a useful unit for design verification. In such models, there are many properties of interest which involve interactions between multiple transactions. Examples of this are ordering relationships in sequential processing and hazard checking in pipelined circuits. Writing such properties on the RTL design requires significant expertise in understanding the higher-level computation being done in a given RTL design and possible instrumentation of the RTL to express the property of interest. This is a barrier to the easy use of such properties in RTL designs.     

Robust scalability analysis and SPM case studies

Scalability has become an attribute of paramount importance for computer systems used in business, scientific and engineering applications. Although scalability has been widely discussed, especially for pure parallel computer systems, it conveniently focuses on improving performance when increasing the number of computing processors. In fact, the term “scalable” is so much abused that it has become a marketing tool for computer vendors independent of the system’s technical qualifications. Since the primary objective of scalability analysis is to determine how well a system can work on larger problems with an increase in its size, we introduce here a generic definition of scalability. For illustrative purposes only, we apply this definition to PC clusters, a rather difficult subject due to their long communication latencies. Since scalability does not solely depend on the system architecture but also on the application programs and their actual management by the run-time environment, for the sake of illustration, we evaluate scalability for programs developed under the super-programming model (SPM) (Jin and Ziavras in IEEE Trans. Parallel Distrib. Syst. 15(9):783–794, 2004; J. Parallel Distrib. Comput. 65(10):1281–1289, 2005; IEICE Trans. Inf. Syst. E87-D(7):1774–1781, 2004).     

A comparative study of existing metrics for 3D-mesh segmentation evaluation

In this paper, we present an extensive experimental comparison of existing similarity metrics addressing the quality assessment problem of mesh segmentation. We introduce a new metric, named the 3D Normalized Probabilistic Rand Index (3D-NPRI), which outperforms the others in terms of properties and discriminative power. This comparative study includes a subjective experiment with human observers and is based on a corpus of manually segmented models. This corpus is an improved version of our previous one (Benhabiles et al. in IEEE International Conference on Shape Modeling and Application (SMI), 2009). It is composed of a set of 3D-mesh models grouped in different classes associated with several manual ground-truth segmentations. Finally the 3D-NPRI is applied to evaluate six recent segmentation algorithms using our corpus and the Chen et al.’s (ACM Trans. Graph. (SIGGRAPH), 28(3), 2009) corpus.     

Speed-Up Theorems in Type-2 Computations Using Oracle Turing Machines

A classic result known as the speed-up theorem in machine-independent complexity theory shows that there exist some computable functions that do not have best programs for them (Blum in J. ACM 14(2):322–336, 1967 and J. ACM 18(2):290–305, 1971). In this paper we lift this result into type-2 computations. Although the speed-up phenomenon is essentially inherited from type-1 computations, we observe that a direct application of the original proof to our type-2 speed-up theorem is problematic because the oracle queries can interfere with the speed of the programs and hence the cancellation strategy used in the original proof is no longer correct at type-2. We also argue that a type-2 analog of the operator speed-up theorem (Meyer and Fischer in J. Symb. Log. 37:55–68, 1972) does not hold, which suggests that this curious speed-up phenomenon disappears in higher-typed computations beyond type-2. The result of this paper adds one more piece of evidence to support the general type-2 complexity theory under the framework proposed in Li (Proceedings of the Third International Conference on Theoretical Computer Science, pp. 471–484, 2004 and Proceedings of Computability in Europe: Logical Approach to Computational Barriers, pp. 182–192, 2006) and Li and Royer (On type-2 complexity classes: Preliminary report, pp. 123–138, 2001) as a reasonable setup.     

A Hierarchical and Contextual Model for Aerial Image Parsing

In this paper we present a hierarchical and contextual model for aerial image understanding. Our model organizes objects (cars, roofs, roads, trees, parking lots) in aerial scenes into hierarchical groups whose appearances and configurations are determined by statistical constraints (e.g. relative position, relative scale, etc.). Our hierarchy is a non-recursive grammar for objects in aerial images comprised of layers of nodes that can each decompose into a number of different configurations. This allows us to generate and recognize a vast number of scenes with relatively few rules. We present a minimax entropy framework for learning the statistical constraints between objects and show that this learned context allows us to rule out unlikely scene configurations and hallucinate undetected objects during inference. A similar algorithm was proposed for texture synthesis (Zhu et al. in Int. J. Comput. Vis. 2:107–126, 1998) but didn’t incorporate hierarchical information. We use a range of different bottom-up detectors (AdaBoost, TextonBoost, Compositional Boosting (Freund and Schapire in J. Comput. Syst. Sci. 55, 1997; Shotton et al. in Proceedings of the European Conference on Computer Vision, pp. 1–15, 2006; Wu et al. in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 1–8, 2007)) to propose locations of objects in new aerial images and employ a cluster sampling algorithm (C4 (Porway and Zhu, 2009)) to choose the subset of detections that best explains the image according to our learned prior model. The C4 algorithm can quickly and efficiently switch between alternate competing sub-solutions, for example whether an image patch is better explained by a parking lot with cars or by a building with vents. We also show that our model can predict the locations of objects our detectors missed. We conclude by presenting parsed aerial images and experimental results showing that our cluster sampling and top-down prediction algorithms use the learned contextual cues from our model to improve detection results over traditional bottom-up detectors alone.     

Scheduling real-time requests in on-demand data broadcast environments

On-demand broadcast is an attractive data dissemination method for mobile and wireless computing. In this paper, we propose a new online preemptive scheduling algorithm, called PRDS that incorporates urgency, data size and number of pending requests for real-time on-demand broadcast system. Furthermore, we use pyramid preemption to optimize performance and reduce overhead. A series of simulation experiments have been performed to evaluate the real-time performance of our algorithm as compared with other previously proposed methods. The experimental results show that our algorithm substantially outperforms other algorithms over a wide range of workloads and parameter settings. The work described in this paper was partially supported by grants from CityU (Project No. 7001841) and RGC CERG Grant No. HKBU 2174/03E. This paper is an extended version of the paper “A preemptive scheduling algorithm for wireless real-time on-demand data broadcast” that appeared in the 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications. Victor C. S. Lee received his Ph.D. degree in Computer Science from the City University of Hong Kong in 1997. He is now an Assistant Professor in the Department of Computer Science of the City University of Hong Kong. Dr. Lee is a member of the ACM, the IEEE and the IEEE Computer Society. He is currently the Chairman of the IEEE, Hong Kong Section, Computer Chapter. His research interests include real-time data management, mobile computing, and transaction processing. Xiao Wu received the B.Eng. and M.S. degrees in computer science from Yunnan University, Kunming, China, in 1999 and 2002, respectively. He is currently a Ph.D. candidate in the Department of Computer Science at the City University of Hong Kong. He was with the Institute of Software, Chinese Academy of Sciences, Beijing, China, between January 2001 and July 2002. From 2003 to 2004, he was with the Department of Computer Science of the City University of Hong Kong, Hong Kong, as a Research Assistant. His research interests include multimedia information retrieval, video computing and mobile computing. Joseph Kee-Yin NG received a B.Sc. in Mathematics and Computer Science, a M.Sc. in Computer Science, and a Ph.D. in Computer Science from the University of Illinois at Urbana-Champaign in the years 1986, 1988, and 1993, respectively. Prof. Ng is currently a professor in the Department of Computer Science at Hong Kong Baptist University. His current research interests include Real-Time Networks, Multimedia Communications, Ubiquitous/Pervasive Computing, Mobile and Location- aware Computing, Performance Evaluation, Parallel and Distributed Computing. Prof. Ng is the Technical Program Chair for TENCON 2006, General Co-Chair for The 11th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2005), Program Vice Chair for The 11th International Conference on Parallel and Distributed Systems (ICPADS 2005), Program Area-Chair for The 18th & 19th International Conference on Advanced Information Networking and Applications (AINA 2004 & AINA 2005), General Co-Chair for The International Computer Congress 1999 & 2001 (ICC’99 & ICC’01), Program Co-Chair for The Sixth International Conference on Real-Time Computing Systems and Applications (RTCSA’99) and General Co-Chair for The 1999 and 2001 International Computer Science Conference (ICSC’99 & ICSC’01). Prof. Ng is a member of the Editorial Board of Journal of Pervasive Computing and Communications, Journal of Ubiquitous Computing and Intelligence, Journal of Embedded Computing, and Journal of Microprocessors and Microsystems. He is the Associate Editor of Real-Time Systems Journal and Journal of Mobile Multimedia. He is also a guest editor of International Journal of Wireless and Mobile Computing for a special issue on Applications, Services, and Infrastructures for Wireless and Mobile Computing. Prof. Ng is currently the Region 10 Coordinator for the Chapter Activities Board of the IEEE Computer Society, and is the Coordinator of the IEEE Computer Society Distinguished Visitors Program (Asia/Pacific). He is a senior member of the IEEE and has been a member of the IEEE Computer Society since 1991. Prof. Ng has been an Exco-member (1993–95), General Secretary (1995–1997), Vice-Chair (1997–1999), Chair (1999–2001) and the Past Chair of the IEEE, Hong Kong Section, Computer Chapter. Prof. Ng received the Certificate of Appreciation for Services and Contribution (2004) from IEEE Hong Kong Section, the Certificate of Appreciation for Leadership and Service (2000–2001) from IEEE Region 10 and the IEEE Meritorious Service Award from IEEE Computer Society at 2004. He is also a member of the IEEE Communication Society, ACM and the Founding Member for the Internet Society (ISOC)-Hong Kong Chapter.     

Shaping the drivers’ interaction: how the new vehicle systems match the technological requirements and the human needs

Although it is not always possible to derive from statistics the causes of an accident, data clearly show that they are mostly due to a lack of driver’s perception, with high direct and indirect social costs for society (Hutchinson in Road accidents statistics, Rumsby Scientific Publishing, 1987; Kawai in Convergence 1994, Conference Proceedings, 1994; Boussuge in Bilan et perspectives, Revue Gen. des Routes et des Aerodromes, N. 726, 1995). Therefore, a strong integration among all the actors involved (i.e., the drivers, the vehicle or technical system in general and the driving environment) is quite necessary. From the beginning of 1980s, there has been a shift in system concept design, moving from a technological approach towards a human-centred design approach (Norman and Draper 1986; Rouse 1991). Firstly this approach was applied to the human–computer interaction domain, and has also been extended towards complex and automated technological systems (Sheridan in Telerobotics, automation, and human supervisory control, MIT Press, 1992; Scerbo in Human performance in automated systems: theory and applications, Lawrence Erlbaum Associates, 1996) in several domains as, among the others, automotive (Michon in Generic intelligent driver support, Taylor & Francis, 1994) and industrial plants (Cacciabue in Giuseppe mantovani ergonomia, II Mulino, 2000). According to these perspectives, the role of user’s needs in the design process of a certain system becomes crucial; nevertheless, the technological requirements, i.e., the so-called “machine needs” should maintain a role of which the designer should be totally aware. Otherwise, the risk is to fail the design process making a system incoherent and ineffective. Thus, this paper aims at presenting such types of needs, the mutual interaction between machine and users, as well as the interaction of both with the surrounding environment. The work is based on several experiences conducted in the automotive domain.

A posteriori error analysis of time-dependent Stokes problem by Chorin-Temam scheme

We present a posteriori-residual analysis for the approximate time-dependent Stokes model Chorin-Temam projection scheme (Chorin in Math. Comput. 23:341–353, 1969; Temam in Arch. Ration. Mech. Appl. 33:377–385, 1969). Based on the multi-step approach introduced in Bergam et al. (Math. Comput. 74(251):1117–1138, 2004), we derive error estimators, with respect to both time and space approximations, related to diffusive and incompressible parts of Stokes equations. Using a conforming finite element discretization, we prove the equivalence between error and estimators under specific conditions.