Rough terrain mapping and classification for foothold selection in a walking robot

Although legged locomotion over a moderately rugged terrain can be accomplished by employing simple reactions to the ground contact information, a more effective approach, which allows predictively avoiding obstacles, requires a model of the environment and a control algorithm that takes this model into account when planning footsteps and leg movements. This article addresses the issues of terrain perception and modeling and foothold selection in a walking robot. An integrated system is presented that allows a legged robot to traverse previously unseen, uneven terrain using only onboard perception, provided that a reasonable general path is known. An efficient method for real‐time building of a local elevation map from sparse two‐dimensional (2D) range measurements of a miniature 2D laser scanner is described. The terrain mapping module supports a foothold selection algorithm, which employs unsupervised learning to create an adaptive decision surface. The robot can learn from realistic simulations; therefore no a priori expert‐given rules or parameters are used. The usefulness of our approach is demonstrated in experiments with the six‐legged robot Messor. We discuss the lessons learned in field tests and the modifications to our system that turned out to be essential for successful operation under real‐world conditions. © 2011 Wiley Periodicals, Inc.     

Nonlinear model identification and see-through cancelation from recto–verso data

The problem of see-through cancelation in digital images of double-sided documents is addressed. We show that a nonlinear convolutional data model proposed elsewhere for moderate show-through can also be effective on strong back-to-front interferences, provided that the recto and verso pure patterns are estimated jointly. To this end, we propose a restoration algorithm that does not need any classification of the pixels. The see-through PSFs are estimated off-line, and an iterative procedure is then employed for a joint estimation of the pure patterns. This simple and fast algorithm can be used on both grayscale and color images and has proved to be very effective in real-world cases. The experimental results we report in this paper demonstrate that our algorithm outperforms the ones based on linear models with no need to tune free parameters and remains computationally inexpensive despite the nonlinear model and the iterative solution adopted. Strategies to overcome some of the residual difficulties are also envisaged.     

Boolean operations for 3D simulation of CNC machining of drilling tools

This paper addresses the simulation of drilling tools CNC machining. It describes a novel approach for the computation of the boundary representation of the machined tools. Machining consists of a sequence of boolean operations of difference between the tool and the grinding wheels through time. The proposed method performs the dynamic boolean operations on cross sections of the tool and it reconstructs the 3Dmodel by tiling between the cross sections. The method is based on classical computational geometry algorithms such as intersection tests, hull computations, 2D boolean operations and surface tiling. This approach is efficient and it provides user control on the resolution of the operations.     

Development of a robust canopy height model derived from ALS point clouds for predicting individual crown attributes at the species level

ABSTRACT

Tree crown attributes are important parameters during the assessment and monitoring of forest ecosystems. Canopy height models (CHMs) derived from airborne laser scanning (ALS) data have proved to be a reliable source for extracting different biophysical characteristics of single trees and at stand level. However, ALS-derived tree measurements (e.g., mean crown diameter) can be negatively affected by pits that appear in the CHMs. Thus, we propose a novel method for generating pit-free CHMs from ALS point clouds for estimating crown attributes (i.e., area and mean diameter) at the species level. The method automatically calculates a threshold for a pixel based on the range of height values within neighbouring pixels; if the pixel falls below the threshold then it is recognized as a pitted pixel. The pit is then filled with the median of the values of the neighbouring pixels. Manually delineated individual tree crowns (ITC) of four deciduous and two coniferous species on Colour Infrared (CIR) stereo images were used as a reference in the analysis. In addition, a variety of different algorithms for constructing CHMs were compared to investigate the performance of different CHMs in similar forest conditions. Comparisons between the estimated and observed crown area (R² = 0.95, RMSE% = 19.12% for all individuals) and mean diameter (R² = 0.92, RMSE% = 12.16% for all individuals) revealed that ITC attributes were correctly estimated by segmentation of the pit-free CHM proposed in this study. The goodness of matching and geometry revealed that the delineated crowns correctly matched up to the reference data and had identical geometry in approximately 70% of cases. The results showed that the proposed method produced a CHM that estimates crown attributes more accurately than the other investigated CHMs. Furthermore, the findings suggest that the proposed algorithm used to fill pits with the median of height observed in surrounding pixels significantly improve the accuracy of the results the species level due to a higher correlation between the estimated and observed crown attributes. Based on these results, we concluded that the proposed pit filling method is capable of providing an automatic and objective solution for constructing pit-free CHMs for assessing individual crown attributes of mixed forest stands.     

Quattor: Tools and Techniques for the Configuration,Installation and Management of Large-Scale Grid Computing Fabrics

This paper describes the quattor tool suite, a new system for the installation, configuration, and management of operating systems and application software for computing fabrics. At present Unix derivatives such as Linux and Solaris are supported. Quattor is a powerful, portable and modular open source solution that has been shown to scale to thousands of computing nodes and offers a significant reduction in management costs for large computing fabrics. The quattor tool suite includes innovations compared to existing solutions which make it very useful for computing fabrics integrated into grid environments. Evaluations of the tool suite in current large scale computing environments are presented.     

Compact DSOP and Partial DSOP Forms

Given a Boolean function f on n variables, a Disjoint Sum-of-Products (DSOP) of f is a set of products (ANDs) of subsets of literals whose sum (OR) equals f, such that no two products cover the same minterm of f. DSOP forms are a special instance of partial DSOPs, i.e. the general case where a subset of minterms must be covered exactly once and the other minterms (typically corresponding to don’t care conditions of f) can be covered any number of times. We discuss finding DSOPs and partial DSOPs with a minimal number of products, a problem theoretically connected with various properties of Boolean functions and practically relevant in the synthesis of digital circuits. Finding an absolute minimum is hard, in fact we prove that the problem of absolute minimization of partial DSOPs is NP-hard. Therefore it is crucial to devise a polynomial time heuristic that compares favorably with the known minimization tools. To this end we develop a further piece of theory starting from the definition of the weight of a cube c as a functions of the number of fragments induced on other cubes by the selection of c, and show how cube weights can be exploited for building a class of minimization heuristics for DSOP and partial DSOP synthesis. A set of experiments conducted on major benchmark functions show that our method, with a family of variants, always generates better results than the ones of previous heuristics, including the method based on a BDD representation of f.     

Distributed OSGi built over message‐oriented middleware

This paper describes key aspects of remote service invocation in federations of OSGi containers. It refers to the OSGi Remote Service Admin specification and describes its efficient implementation over message‐oriented middleware. Scalability problems of several different approaches to implementation are identified, and a solution in a form of innovative Remote Service Admin model extension is proposed. The extension, named On‐demand Remote Service Admin, is analyzed and validated in the context of a motivating scenario. Validation includes performance and scalability evaluation, which confirms that all assumed requirements have been satisfied by the constructed prototype. Finally, the presented research is compared with related works. Copyright © 2011 John Wiley & Sons, Ltd.     

Interaction of Langmuir–Blodgett and spin-coated films of μ-carbido-bridged ironphthalocyanine with NO2: Optical and conductimetric behaviour

The present study investigates the interaction of NO₂ gas and μ-carbido-bridged iron phthalocyanine (PcFeCFePc) films obtained by Langmuir–Blodgett (LB) and spin-coating (SC) techniques. The phthalocyanine bridged dimer under study belongs to the polynuclear unsubstituted phthalocyanines class and presents poor solubility: in contrast the corresponding N-base bis-adducts are soluble enough in organic solvents to be deposited by Langmuir–Blodgett and spin-coating techniques. The reaction with NO₂ is monitored by visible spectra variation that shows identical behaviour for both kinds of films, indicating that the chemical reaction between the gas and the films is independent of the deposition method. The electrical conductivity change as a function of time with NO₂ is instead dissimilar: for spin-coated films it shows a behaviour already observed for sandwich-type phthalocyanine whereas for LB films it resembles that of monomeric phthalocyanine. Such a response implies that the charges (holes) generated in the oxidation/reduction process are carried differently through the material, and we attempt to explain this behaviour taking into account the two different structural and morphological features induced by the two techniques.     

Instructional animations can be superior to statics when learning human motor skills

Based on the assumption of a working memory processor devoted to human movement, cognitive load theory is used to explore some conditions under which animated instructions are hypothesised to be more effective for learning than equivalent static graphics. Using paper-folding tasks dealing with human movement, results from three experiments confirmed our hypothesis, indicating a superiority of animation over static graphics. These results are discussed in terms of a working memory processor that may be facilitated by our mirror-neuron system and may explain why animated instructional animations are superior to static graphics for cognitively based tasks that involve human movement.     

Iris-based human identity recognition with machine learning methods and discrete fast Fourier transform

Innovations in Systems and Software Engineering - One of the most important modules of computer systems is the one that is responsible for user safety. It was proven that simple passwords and...