Formation control of underactuated bio-inspired snake robots

This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.     

Automatisches Sicherheitstesten

Moderne Testgeneratoren finden Schwachstellen in Eingabeschnittstellen von Programmen, indem sie in Sekunden tausende Eingaben zufällig erzeugen. Die Werkzeuge lassen sich leicht von jedermann einsetzen–zum Angriff oder zur Verteidigung.     

3D interactive topology optimization on hand-held devices

This educational paper describes the implementation aspects, user interface design considerations and workflow potential of the recently published TopOpt 3D App. The app solves the standard minimum compliance problem in 3D and allows the user to change design settings interactively at any point in time during the optimization. Apart from its educational nature, the app may point towards future ways of performing industrial design. Instead of the usual geometrize, then model and optimize approach, the geometry now automatically adapts to the varying boundary and loading conditions. The app is freely available for iOS at Apple’s App Store and at http://www.topopt.dtu.dk/TopOpt3D for Windows and OSX.     

Mixing matrix estimation using discriminative clustering for blind source separation

Mixing matrix estimation in instantaneous blind source separation (BSS) can be performed by exploiting the sparsity and disjoint orthogonality of source signals. As a result, approaches for estimating the unknown mixing process typically employ clustering algorithms on the mixtures in a parametric domain, where the signals can be sparsely represented. In this paper, we propose two algorithms to perform discriminative clustering of the mixture signals for estimating the mixing matrix. For the case of overdetermined BSS, we develop an algorithm to perform linear discriminant analysis based on similarity measures and combine it with K-hyperline clustering. Furthermore, we propose to perform discriminative clustering in a high-dimensional feature space obtained by an implicit mapping, using the kernel trick, for the case of underdetermined source separation. Using simulations on synthetic data, we demonstrate the improvements in mixing matrix estimation performance obtained using the proposed algorithms in comparison to other clustering methods. Finally we perform mixing matrix estimation from speech mixtures, by clustering single source points in the time-frequency domain, and show that the proposed algorithms achieve higher signal to interference ratio when compared to other baseline algorithms.     

Generic visual analysis for multi- and hyperspectral image data

Multi- and hyperspectral imaging and data analysis has been investigated in the last decades in the context of various fields of application like remote sensing or microscopic spectroscopy. However, recent developments in sensor technology and a growing number of application areas require a more generic view on data analysis, that clearly expands the current, domain-specific approaches. In this context, we address the problem of interactive exploration of multi- and hyperspectral data, consisting of (semi-)automatic data analysis and scientific visualization in a comprehensive fashion. In this paper, we propose an approach that enables a generic interactive exploration and easy segmentation of multi- and hyperspectral data, based on characterizing spectra of an individual dataset, the so-called endmembers. Using the concepts of existing endmember extraction algorithms, we derive a visual analysis system, where the characteristic spectra initially identified serve as input to interactively tailor a problem-specific visual analysis by means of visual exploration. An optional outlier detection improves the robustness of the endmember detection and analysis. An adequate system feedback of the costly unmixing procedure for the spectral data with respect to the current set of endmembers is ensured by a novel technique for progressive unmixing and view update which is applied at user modification. The progressive unmixing is based on an efficient prediction scheme applied to previous unmixing results. We present a detailed evaluation of our system in terms of confocal Raman microscopy, common multispectral imaging and remote sensing.     

Spatial inverse query processing

Traditional spatial queries return, for a given query object q, all database objects that satisfy a given predicate, such as epsilon range and k-nearest neighbors. This paper defines and studies inverse spatial queries, which, given a subset of database objects Q and a query predicate, return all objects which, if used as query objects with the predicate, contain Q in their result. We first show a straightforward solution for answering inverse spatial queries for any query predicate. Then, we propose a filter-and-refinement framework that can be used to improve efficiency. We show how to apply this framework on a variety of inverse queries, using appropriate space pruning strategies. In particular, we propose solutions for inverse epsilon range queries, inverse k-nearest neighbor queries, and inverse skyline queries. Furthermore, we show how to relax the definition of inverse queries in order to ensure non-empty result sets. Our experiments show that our framework is significantly more efficient than naive approaches.     

Robustness of an aerobic metabolically vinyl chloride degrading bacterial enrichment culture

Degradation of the lower chlorinated ethenes is crucial to the application of natural attenuation or in situ bioremediation on chlorinated ethene contaminated sites. Recently, within mixtures of several chloroethenes as they can occur in contaminated groundwater inhibiting effects on aerobic chloroethene degradation have been shown. The current study demonstrated that metabolic vinyl chloride (VC) degradation by an enrichment culture originating from groundwater was not affected by an equimolar concentration (50 μM) of cis-1,2-dichloroethene (cDCE). Only cDCE concentrations at a ratio of 2.4:1 (initial cDCE to VC concentration) caused minor inhibition of VC degradation. Furthermore, the degradation of VC was not affected by the presence of trans-1,2-dichloroethene (tDCE), 1,1-dichloroethene (1,1-DCE), trichloroethene (TCE), and tetrachloroethene (PCE) in equimolar concentrations (50 μM). Only cDCE and tDCE were cometabolically degraded in small amounts. The VC-degrading culture demonstrated a broad pH tolerance from 5 to 9 with an optimum between 6 and 7. Results also showed that the culture could degrade VC concentrations up to 1,800 μM (110 mg/L).     

Examining the dimensionality of genuine multipartite entanglement

Entanglement in high-dimensional many-body systems plays an increasingly vital role in the foundations and applications of quantum physics. In the present paper, we introduce a theoretical concept which allows to categorize multipartite states by the number of degrees of freedom being entangled. In this regard, we derive computable and experimentally friendly criteria for arbitrary multipartite qudit systems that enable to examine in how many degrees of freedom a mixed state is genuine multipartite entangled.     

Processing and interactive editing of huge point clouds from 3D scanners

This paper describes a new out-of-core multi-resolution data structure for real-time visualization, interactive editing and externally efficient processing of large point clouds. We describe an editing system that makes use of the novel data structure to provide interactive editing and preprocessing tools for large scanner data sets. Using the new data structure, we provide a complete tool chain for 3D scanner data processing, from data preprocessing and filtering to manual touch-up and real-time visualization. In particular, we describe an out-of-core outlier removal and bilateral geometry filtering algorithm, a toolset for interactive selection, painting, transformation, and filtering of huge out-of-core point-cloud data sets and a real-time rendering algorithm, which all use the same data structure as storage backend. The interactive tools work in real-time for small model modifications. For large scale editing operations, we employ a two-resolution approach where editing is planned in real-time and executed in an externally efficient offline computation afterwards. We evaluate our implementation on example data sets of sizes up to 63 GB, demonstrating that the proposed technique can be used effectively in real-world applications.     

SplitLab: A shear-wave splitting environment in Matlab

We present a graphical user interface to facilitate the processing of teleseismic shear-wave splitting observations. In contrast to a fully automated technique, we present a manual, per-event approach that maintains user control during the sequence of processing. The SplitLab environment is intended to undertake the repetitive processing steps while enabling the user to focus on quality control and eventually the interpretation of the results. Pre-processing modules of SplitLab create a database of events and link the corresponding seismogram files. The seismogram viewer tool uses this database to perform the measurement interactively. Post-processing of the combined results of such a project includes a viewer and export option. Our emphasis lies in the application to teleseismic shear-wave splitting analysis, but our code can be extended easily for other purposes. SplitLab can be downloaded at http://www.gm.univ-montp2.fr/splitting/.