Eigendecomposition of Images Correlated on $S^{1}$, $S^{2}$, and $SO(3)$ Using Spectral Theory

Eigendecomposition represents one computationally efficient approach for dealing with object detection and pose estimation, as well as other vision-based problems, and has been applied to sets of correlated images for this purpose. The major drawback in using eigendecomposition is the off line computational expense incurred by computing the desired subspace. This off line expense increases drastically as the number of correlated images becomes large (which is the case when doing fully general 3-D pose estimation). Previous work has shown that for data correlated on S ¹ , Fourier analysis can help reduce the computational burden of this off line expense. This paper presents a method for extending this technique to data correlated on S ² as well as SO(3) by sampling the sphere appropriately. An algorithm is then developed for reducing the off line computational burden associated with computing the eigenspace by exploiting the spectral information of this spherical data set using spherical harmonics and Wigner-D functions. Experimental results are presented to compare the proposed algorithm to the true eigendecomposition, as well as assess the computational savings.     

Polymer track membranes as a trap support for reagent in fiber optic sensors

The article presents a new idea of the application of polymer track membranes (PTM) for immobilization of a reagent in fiber optic chemical sensors. PTM was made of a poly(ethylene terephthalate) foil (10 μm in thickness, pores of 0.2 μm in diameter). The usefulness of membranes additionally covered by poly(vinyl chloride) was tested in a fiber optic redox titrator. The titrator utilized N,N′-diphenylbenzidine as a reagent which changes its absorbance in dependence on the redox potential. The measuring system is based on a lightemitting diode and a silicon photodiode connected to a bifurcated fiber optic bundle. The gain is in price and availability of the membrane. © 1996 John Wiley & Sons, Inc.     

Comparative study of structural properties and NOx storage-reduction behavior of Pt/Ba/CeO2 and Pt/Ba/Al2O3

Differences in the NO_x storage-reduction (NSR) behavior of Pt/Ba/CeO₂ and Pt/Ba/Al₂O₃ have been identified and traced to their different chemical and structural properties. The results show that Pt/Ba/CeO₂ exhibits inferior NO_x storage and, particularly, reduction (regeneration) activity compared to the Al₂O₃ supported catalyst. The incomplete reduction of the stored NO_x-species in Pt/Ba/CeO₂ seems to be caused by a faster and more profound reoxidation of Pt particles during the lean period as evidenced by in situ X-ray absorption spectroscopy. Interestingly, the reduction activity could be significantly improved by a pre-reduction step at mild conditions. Exposure of the Pt/Ba/CeO₂ catalyst to reducing H₂ atmosphere in the temperature range 300–500 °C lead to a moderate increase of Pt particle size which beneficially influenced the regeneration activity. In contrast, pre-reduction at temperatures above 500 °C was unfavorable and resulted in a severe decrease of the regeneration activity, probably due to migration of the partially reduced CeO₂ onto the surface of Pt particles.     

Probabilistic resource allocation in heterogeneous distributed systems with random failures

The problem of finding efficient workload distribution techniques is becoming increasingly important today for heterogeneous distributed systems where the availability of compute nodes may change spontaneously over time. Resource-allocation policies designed for such systems should maximize the performance and, at the same time, be robust against failure and recovery of compute nodes. Such a policy, based on the concepts of the Derman–Lieberman–Ross theorem, is proposed in this work, and is applied to a simulated model of a dedicated system composed of a set of heterogeneous image processing servers. Assuming that each image results in a “reward” if its processing is completed before a certain deadline, the goal for the resource allocation policy is to maximize the expected cumulative reward. An extensive analysis was done to study the performance of the proposed policy and compare it with the performance of some existing policies adapted to this environment. Our experiments conducted for various types of task-machine heterogeneity illustrate the potential of our method for solving resource allocation problems in a broad spectrum of distributed systems that experience high failure rates.     

Repeatable generalized inverse control strategies for kinematicallyredundant manipulators

The issue of generating a repeatable control strategy which possesses the desirable physical properties of a particular generalized inverse is addressed. The technique described is fully general and only requires a knowledge of the associated mill space of the desired inverse. While an analytical representation of the null vector is desirable, ultimately the calculations are done numerically so that a numerical knowledge of the associated full vector is sufficient. This method first characterizes repeatable strategies using a set of orthonormal basis functions to describe the null space of these transformations. The optimal repeatable inverse is then obtained by projecting the null space of the desired generalized inverse onto each of these basis functions. The resulting inverse is guaranteed to be the closest repeatable inverse to the desired inverse, in an integral norm sense, from the set of all inverses spanned by the selected basis functions. This technique is illustrated for a planar, three-degree-of-freedom manipulator and a seven-degree-of-freedom spatial manipulator     

Analyzing unidentified locked-joint failures in kinematically redundant manipulators

Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure-tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures. © 2005 Wiley Periodicals, Inc.     

Quadtree-based eigendecomposition for pose estimation in the presence of occlusion and background clutter

Eigendecomposition-based techniques are popular for a number of computer vision problems, e.g., object and pose estimation, because they are purely appearance based and they require few on-line computations. Unfortunately, they also typically require an unobstructed view of the object whose pose is being detected. The presence of occlusion and background clutter precludes the use of the normalizations that are typically applied and significantly alters the appearance of the object under detection. This work presents an algorithm that is based on applying eigendecomposition to a quadtree representation of the image dataset used to describe the appearance of an object. This allows decisions concerning the pose of an object to be based on only those portions of the image in which the algorithm has determined that the object is not occluded. The accuracy and computational efficiency of the proposed approach is evaluated on 16 different objects with up to 50% of the object being occluded and on images of ships in a dockyard.

The Perception of Graph Properties in Graph Layouts

When looking at drawings of graphs, questions about graph density, community structures, local clustering and other graph properties may be of critical importance for analysis. While graph layout algorithms have focused on minimizing edge crossing, symmetry, and other such layout properties, there is not much known about how these algorithms relate to a user's ability to perceive graph properties for a given graph layout. In this study, we apply previously established methodologies for perceptual analysis to identify which graph drawing layout will help the user best perceive a particular graph property. We conduct a large scale (n = 588) crowdsourced experiment to investigate whether the perception of two graph properties (graph density and average local clustering coefficient) can be modeled using Weber's law. We study three graph layout algorithms from three representative classes (Force Directed ‐ FD, Circular, and Multi‐Dimensional Scaling ‐ MDS), and the results of this experiment establish the precision of judgment for these graph layouts and properties. Our findings demonstrate that the perception of graph density can be modeled with Weber's law. Furthermore, the perception of the average clustering coefficient can be modeled as an inverse of Weber's law, and the MDS layout showed a significantly different precision of judgment than the FD layout.     

A Case of Aluminum Nitride Embrittlement of Heavy Wall Cast Steel

Weld cracking was observed in multiple heats of large-sized cast steel components. Fracture analysis, metallography, and mechanical testing indicated that the failure mechanism was aluminum nitride (AlN) embrittlement. Prevention of this type of embrittlement is achieved by controlling aluminum content, nitrogen content, and above all, cooling rate of the casting. A macro-etch procedure for evaluating large castings for AlN embrittlement has been available in ASTM A 703 for decades, and it was found to adequately predict embrittlement in this instance.