A hybrid solution to the multi-robot integrated exploration problem

In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach.     

A new fast prototype selection method based on clustering

In supervised classification, a training set T is given to a classifier for classifying new prototypes. In practice, not all information in T is useful for classifiers, therefore, it is convenient to discard irrelevant prototypes from T. This process is known as prototype selection, which is an important task for classifiers since through this process the time for classification or training could be reduced. In this work, we propose a new fast prototype selection method for large datasets, based on clustering, which selects border prototypes and some interior prototypes. Experimental results showing the performance of our method and comparing accuracy and runtimes against other prototype selection methods are reported.     

LAMED — A PRNG for EPC Class-1 Generation-2 RFID specification

RFID is a relatively heterogenous radio technology, where it is necessary to put an extra effort on security and privacy-related issues. As early as 2004, some authors suggested the use of a PRNG for increasing security. This was later questioned because many thought a PRNG implementation may go well beyond the very limited computational capabilities of low-cost RFID tags. However, its use has been ratified by EPCGlobal (EPC Class-1 Generation-2) and ISO (ISO/IEC 18000-6C). This motivates our proposal of a new PRNG, named LAMED, which is compliant with the standards and successfully passes several batteries of very demanding randomness tests (ENT, DIEHARD, NIST, and SEXTON). A study of its hardware complexity shows that LAMED can be implemented with slightly less than 1.6 K gates, and that pseudo-random numbers can be generated each 1.8 ms. So we can affirm this is a realist proposal both conforming with the EPC-G1C2 standard, and suitable for low-cost RFID tags.     

Implementation of best manufacturing practices using logic models and system dynamics: project design and project assessment views

In today’s global competitive environment, the need for continuous improvement is a matter of considerable importance within manufacturing enterprises. To this end, project managers, and managers in general, design and assess different projects with the purpose of achieving efficient processes, reducing costs and waste, increasing product and service quality, developing new products and services, enhancing customer relationship management, optimising enterprise resources, and so on. However, it is well-known that managing enterprise resources in order to accomplish effective completion of projects is a complex task to carry out. Furthermore, it has been recognised that the way staff actually understands the purpose of a project, the way they perform different project activities, and how they are able to influence project design and assessment are key factors for influencing the success of a project. This paper presents a systemic methodology to design and assess projects more effectively and efficiently based on program logic models and system dynamics with the aim of facilitating a clear understanding of the needs, purposes, goals, activities and tasks of a project among its stakeholders towards achieving success.     

Special factors,periodicity, and an application to Sturmian words

Let w be a finite word and n the least non-negative integer such that w has no right special factor of length and its right factor of length n is unrepeated. We prove that if all the factors of another word v up to the length n + 1 are also factors of w, thenv itself is a factor ofw. A similar result for ultimately periodic infinite words is established. As a consequence, some ‘uniqueness conditions’ for ultimately periodic words are obtained as well as an upper bound for the rational exponents of the factors of uniformly recurrent non-periodic infinite words. A general formula is derived for the ‘critical exponent’ of a power-free Sturmian word. In particular, we effectively compute the ‘critical exponent’ of any Sturmian sequence whose slope has a periodic development in a continued fraction. Received: 6 May 1999 / 21 February 2000     

Optimal acceptance sampling plans for log-location-scale lifetime models using average risks

Assuming that the probability of obtaining a defective unit in a production process, p, is not constant, a versatile methodology is presented for determining optimal failure-censored reliability sampling plans for log-location-scale lifetime models. The optimization procedure to decide the acceptability of a product is usually sufficiently accurate for the most widely used parametric lifetime models, such as the Weibull and lognormal distributions, and fairly robust to small deviations in the prior knowledge. Moreover, lower and upper bounds on the optimal sample size, and the corresponding acceptance constants, are derived in closed-forms. The proposed approach extends the traditional sampling plans to those cases in which appreciable prior information on p exists, and also allows the analyst the flexibility to delimitate the range of p and to incorporate into the reliability analysis prior impartiality between the producer and the consumer. In addition, the practitioners may achieve substantial savings in sample size, better information on the production process and better assessment of the true producer and consumer risks. An example related to the acceptability of a certain kind of gyroscope is included for illustrative purposes. Various practical prior distributions are considered to describe the random fluctuations in the proportion defective.     

Statistical Pattern Modeling in Vision-Based Quality Control Systems

Machine vision technology improves productivity and quality management and provides a competitive advantage to industries that employ this technology. In this article, visual inspection and quality control theory are combined to develop a robust inspection system with manufacturing applications. The inspection process might be defined as the one used to determine if a given product fulfills a priori specifications, which are the quality standard. In the case of visual inspection, these specifications include the absence of defects, such as lack (or excess) of material, homogeneous visual aspect, required color, predetermined texture, etc. The characterization of the visual aspect of metallic surfaces is studied using quality control chars, which are a graphical technique used to compare on-line capabilities of a product with respect to these specifications. Original algorithms are proposed for implementation in automated visual inspection applications with on-line execution requirements. The proposed artificial vision method is a hybrid between the two usual methods of pattern comparison and theoretical decision. It incorporates quality control theory to statistically model the pattern for defect-free products. Specifically, individual control charts with 6-sigma limits are set so the inspection error is minimized. Experimental studies with metallic surfaces help demonstrate the efficacy and robustness of the proposed methodology.     

Comments on the Force on Pinned Vortices in Superconductors

The question of the nature of the force, usually referred to as the “Lorentz force” experienced by vortices in superconductors has arosen new attention in the last years. This paper contains some observations that may help understand the nature of this force, at least for stationary, pinned vortices. One observation is that the force is not proportional to the electromagnetic coupling constant, i.e. the electric charge. This points to the importance of kinematical analysis in discussing it. A second observation refers to the fact that in the London limit, kinetic energy dominates over magnetic energy in the formation energy of a vortex. We give an exact derivation of the force using the London model. We indicate that in the Ginzburg–Landau theory the same result obtains. Our derivation shows also the origin of additional forces experienced by the vortex near the sample surface.