Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc.     

Mining association rules for the quality improvement of the production process

Academics and practitioners have a common interest in the continuing development of methods and computer applications that support or perform knowledge-intensive engineering tasks. Operations management dysfunctions and lost production time are problems of enormous magnitude that impact the performance and quality of industrial systems as well as their cost of production. Association rule mining is a data mining technique used to find out useful and invaluable information from huge databases. This work develops a better conceptual base for improving the application of association rule mining methods to extract knowledge on operations and information management. The emphasis of the paper is on the improvement of the operations processes. The application example details an industrial experiment in which association rule mining is used to analyze the manufacturing process of a fully integrated provider of drilling products. The study reports some new interesting results with data mining and knowledge discovery techniques applied to a drill production process. Experiment’s results on real-life data sets show that the proposed approach is useful in finding effective knowledge associated to dysfunctions causes.     

Generation of Efficient Nested Loops from Polyhedra

Automatic parallelization in the polyhedral model is based on affine transformations from an original computation domain (iteration space) to a target space-time domain, often with a different transformation for each variable. Code generation is an often ignored step in this process that has a significant impact on the quality of the final code. It involves making a trade-off between code size and control code simplification/optimization. Previous methods of doing code generation are based on loop splitting, however they have nonoptimal behavior when working on parameterized programs. We present a general parameterized method for code generation based on dual representation of polyhedra. Our algorithm uses a simple recursion on the dimensions of the domains, and enables fine control over the tradeoff between code size and control overhead.     

Computing efficiently the lattice width in any dimension

We provide an algorithm for the exact computation of the lattice width of a set of points K in Z² in linear-time with respect to the size of K. This method consists in computing a particular surrounding polygon. From this polygon, we deduce a set of candidate vectors allowing the computation of the lattice width. Moreover, we describe how this new algorithm can be extended to an arbitrary dimension thanks to a greedy and practical approach to compute a surrounding polytope. Indeed, this last computation is very efficient in practice as it processes only a few linear time iterations whatever the size of the set of points. Hence, it avoids complex geometric processings.     

NMscatt: a program for calculating inelastic scattering from large biomolecular systems using classical force-field simulations

Computational tools for normal mode analysis, which are widely used in physics and materials science problems, are designed here in a single package called NMscatt (Normal Modes & scattering) that allows arbitrarily large systems to be handled. The package allows inelastic neutron and X-ray scattering observables to be calculated, allowing comparison with experimental data produced at large scale facilities. Various simplification schemes are presented for analyzing displacement vectors, which are otherwise too complicated to understand in very large systems.

Program summary

Title of program:NMscattCatalogue identifier:ADZA_v1_0Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADZA_v1_0.htmlProgram obtainable from:CPC Program Library, Queen's University of Belfast, N. IrelandLicensing provisions:noNo. of lines in distributed program, including test data, etc.:573 535No. of bytes in distributed program, including test data, etc.:4 516 496Distribution format:tar.gzProgramming language:FORTRAN 77Computer:x86 PCOperating system:GNU/Linux, UNIXRAM:Depends on the system size to be simulatedWord size:32 or 64 bitsClassification:16.3External routines:LAPACKNature of problem: Normal mode analysis, phonons calculation, derivation of incoherent and coherent inelastic scattering spectra.Solution method: Full diagonalization (producing eigen-vectors and eigen-values) of dynamical matrix which is obtained from potential energy function derivation using finite difference method.Running time: About 7 hours per one k-point evaluation in sampling all modes dispersion curves for a system containing 3550 atoms in the unit cell on AMD Athlon 64 X2 Dual Core Processor 4200+.     

Heuristics for the multi-period orienteering problem with multiple time windows

We present the multi-period orienteering problem with multiple time windows (MuPOPTW), a new routing problem combining objective and constraints of the orienteering problem (OP) and team orienteering problem (TOP), constraints from standard vehicle routing problems, and original constraints from a real-world application. The problem itself comes from a real industrial case. Specific route duration constraints result in a route feasibility subproblem. We propose an exact algorithm for this subproblem, and we embed it in a variable neighborhood search method to solve the whole routing problem. We then provide experimental results for this method. We compare them to a commercial solver. We also adapt our method to standard benchmark OP and TOP instances, and provide comparative tables with state-of-the-art algorithms.     

Semantic web technologies to reconcile privacy and context awareness

Increasingly, application developers are looking for ways to provide users with higher levels of personalization that capture different elements of a user’s operating context, such as her location, the task that she is currently engaged in, who her colleagues are, etc. While there are many sources of contextual information, they tend to vary from one user to another and also over time. Different users may rely on different location tracking functionality provided by different cell phone operators; they may use different calendar systems, etc. In this article, we describe work on a Semantic e-Wallet aimed at supporting automated identification and access of personal resources, each represented as a Semantic Web Service. A key objective is to provide a Semantic Web environment for open access to a user’s contextual resources, thereby reducing the costs associated with the development and maintenance of context-aware applications. A second objective is, through Semantic Web technologies, to empower users to selectively control who has access to their contextual information and under which conditions. This work has been carried out in the context of myCampus, a context-aware environment aimed at enhancing everyday campus life. Empirical results obtained on Carnegie Mellon’s campus are discussed.     

Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

A prismoid framework for languages with resources

Inspired by the Multiplicative Exponential fragment of Linear Logic, we define a framework called the prismoid of resources where each vertex is a language which refines the λ-calculus by using a different choice to make explicit or implicit (meta-level) the definition of the contraction, weakening, and substitution operations. For all the calculi in the prismoid we show simulation of β-reduction, confluence, preservation of β-strong normalisation and strong normalisation for typed terms. Full composition also holds for all the calculi of the prismoid handling explicit substitutions. The whole development of the prismoid is done by making the set of resources a parameter of the formalism, so that all the properties for each vertex are obtained as a particular case of the general abstract proofs.     

Controlling test case explosion in test generation from B formal models

BZ‐TESTING‐TOOLS (BZ‐TT) is a tool set for automated test case generation from B and Z specifications. BZ‐TT uses boundary and cause–effect testing on the basis of the formal model. It has been used and validated on several industrial applications in the domain of critical software, particularly smart card and transport systems. This paper presents the test coverage criteria supported by BZ‐TT. On the one hand, these correspond to various classical structural coverage criteria, but specialized to the case of B abstract machines. The paper gives algorithms for these in Prolog. On the other hand, BZ‐TT introduces new coverage criteria for complex data structures, based on boundary analysis: this paper defines weak and strong state‐boundary coverage, input‐boundary coverage and output‐boundary coverage. Finally, the paper describes how BZ‐TT presents a unified view of these criteria to the validation engineer, and allows him or her to control the test case explosion on a coarse basis (choosing from a range of coverage criteria) as well as a fine basis (selecting options for each state or input variable). Copyright © 2004 John Wiley & Sons, Ltd.