Using Circular Programs to Deforest in Accumulating Parameters

This paper presents a functional program transformation that removes intermediate data structures in compositions of two members of a class of recursive functions with accumulating parameters. To avoid multiple traversals of the input data structure, the composition algorithm produces circular programs that make essential use of lazy evaluation and local recursion. The resulting programs are simplified using a post-processing phase sketched in the paper. The presented transformation, called lazy composition, is compared with related transformation techniques both on a qualitative level and based on runtime measurements. An alternative use of higher-orderedness instead of circularity is also briefly explored.     

The Difficulty of Reduced Error Pruning of Leveled Branching Programs

Induction of decision trees is one of the most successful approaches to supervised machine learning. Branching programs are a generalization of decision trees and, by the boosting analysis, exponentially more efficiently learnable than decision trees. However, this advantage has not been seen to materialize in experiments. Decision trees are easy to simplify using pruning. Reduced error pruning is one of the simplest decision tree pruning algorithms. For branching programs no pruning algorithms are known. In this paper we prove that reduced error pruning of branching programs is infeasible. Finding the optimal pruning of a branching program with respect to a set of pruning examples that is separate from the set of training examples is NP-complete. Because of this intractability result, we have to consider approximating reduced error pruning. Unfortunately, it turns out that even finding an approximate solution of arbitrary accuracy is computationally infeasible. In particular, reduced error pruning of branching programs is APX-hard. Our experiments show that, despite the negative theoretical results, heuristic pruning of branching programs can reduce their size without significantly altering the accuracy.     

In-vivo confocal scanning laser microscopy of the cerebral microcirculation

Confocal scanning laser microscopy (CSLM) was used to study the microcirculation of the brain neocortex in anaesthetized rats. After removal of the dura mater, implantation of a closed cranial window, and intravenous injection of fluorescein, three-dimensional reconstructions of cortical capillaries were performed down to a depth of 250 μm below the pial surface. Using a one-dimensional approach (single line scanning), erythrocyte (negative contrast in fluorescently labelled plasma) and leucocyte (labelled with rhodamine 6 G) velocity and supply rate in cortical capillaries were measured. The effect of CO₂-inhalation on capillary blood flow dynamics was studied. Capillaries were imaged continuously for up to 1 h without changes in flow or fluorescence pattern. However, by increasing the laser power 10–100-fold, aggregate formation was induced and capillaries were occluded, possibly due to damage to vascular endothelium. We conclude that CSLM can be used to study morphological and dynamic aspects of fluorescently labelled subsurface structures in organs of experimental animals.     

Plasmon energy mapping in energy-filtering transmission electron microscopy

In this paper, we demonstrate the two-dimensional mapping of plasmon energies by energy-filtering transmission electron microscopy. The maps are obtained from a series of energy-filtered images in the plasmon energy region. Examples are shown for a nano-crystalline Si-B-C-N ceramic. This material contains SiC and Si(3)N(4) grains as well as intergranular regions composed of hexagonal BN (h-BN) and turbostratic carbon (t-C). The different phases can be clearly identified by their specific plasmon energies. An energy resolution of < or =0.1eV is achieved. In addition, the plasmon map of an amorphous carbon film is used to visualize the non-isochromaticity of the Corrected Omega filter (90 degrees filter) of the SESAM2. A procedure is proposed for the correction of the non-isochromaticity.     

Filopodia formation induced by active mDia2/Drf3

Filopodia are rod-shaped cell surface protrusions composed of a parallel bundle of actin filaments. Since filopodia frequently emanate from lamellipodia, it has been proposed that they form exclusively by the convergence and elongation of actin filaments generated in lamellipodia networks. However, filopodia form without Arp2/3-complex, which is essential for lamellipodia formation, indicating that actin filaments in filopodia may be generated by other nucleators. Here we analyzed the effects of ectopic expression of GFP-tagged full length or a constitutively active variant of the human formin mDia2/Drf3. By contrast to the full-length molecule, which did not affect cell behaviour and was entirely cytosolic, active Drf3 lacking the C-terminal regulatory region (Drf3DeltaDAD) induced the formation of filopodia and accumulated at their tips. Low expression of Drf3DeltaDAD induced rod-shaped or tapered filopodia, whereas over-expression resulted in multiple, club-shaped filopodia. The clubs were filled with densely bundled actin filaments, whose number but not packing density decreased further away from the tip. Interestingly, clubs frequently increased in width after protrusion beyond the cell periphery, which correlated with increased amounts of Drf3DeltaDAD at their tips. These data suggest Drf3-induced filopodia form and extend by de novo nucleation of actin filaments instead of convergent elongation. Finally, Drf3DeltaDAD also induced the formation of unusual, lamellipodia-like structures, which contained both lamellipodial markers and the prominent filopodial protein fascin. Microarray analyses revealed highly variable Drf3 expression levels in different commonly used cell lines, reflecting the need for more detailed analyses of the functions of distinct formins in actin cytoskeleton turnover and different cell types.     

Galling resistance and wear mechanisms – cold work tool materials sliding against carbon steel sheets

One of the major causes for tool failure in sheet metal forming is transfer and accumulation of adhered sheet material to the tool surfaces, generally referred to as galling. In the present work, the galling resistance of several tool materials was investigated against two-phase ferritic-martensitic carbon steel under dry sliding test conditions. Tribological evaluation was carried out at different contact pressures by using a slider-on-flat-surface (SOFS) tribometer. For all selected test conditions, a consistent ranking of the materials was obtained with best performance observed for nitrogen alloyed powder metallurgy tool steel. Worst galling resistance was observed by nodular cast iron.     

Wear-resistant coatings for bearing applications

A report is given of the preparation and testing of ball bearings for operation under extreme conditions. The rings and balls were coated with hard materials such as TiC, TiN or Ti(C,N) using the chemical vapour deposition process. Such coated bearing elements have been used with success in ball bearings for nuclear reactors, namely in a helium atmosphere at 300 °C and in space applications in a vacuum of 10^?9 Torr.     

Detection of bubbles as concentric circular arrangements

The paper proposes a method for the detection of bubble-like transparent objects in a liquid. The detection problem is non-trivial since bubble appearance varies considerably due to different lighting conditions causing contrast reversal and multiple interreflections. We formulate the problem as the detection of concentric circular arrangements (CCA). The CCAs are recovered in a hypothesize-optimize-verify framework. The hypothesis generation is based on sampling from the partially linked components of the non-maximum suppressed responses of oriented ridge filters, and is followed by the CCA parameter estimation. Parameter optimization is carried out by minimizing a novel cost-function. The performance was tested on gas dispersion images of pulp suspension and oil dispersion images. The mean error of gas/oil volume estimation was used as a performance criterion due to the fact that the main goal of the applications driving the research was the bubble volume estimation. The method achieved 28 and 13 % of gas and oil volume estimation errors correspondingly outperforming the OpenCV Circular Hough Transform in both cases and the WaldBoost detector in gas volume estimation.     

Progress and prospects of the human–robot collaboration

Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human–robot collaboration. This aspect represents high socio-economic impacts and maintains the sense of purpose of the involved people, as the robots do not completely replace the humans from the work process. The research community’s recent surge of interest in this area has been devoted to the implementation of various methodologies to achieve intuitive and seamless human–robot-environment interactions by incorporating the collaborative partners’ superior capabilities, e.g. human’s cognitive and robot’s physical power generation capacity. In fact, the main purpose of this paper is to review the state-of-the-art on intermediate human–robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human–robot collaboration.