Use of discrete gradient operators for the automatic determination of vanishing points: Comparative analysis

Thales’ second theorem can be used for the automatic detection of the vanishing points of an image. This paper explores its reliability and accuracy according to the type of operator used for the detection of edges. An algorithm has been used which processes a photographic image according to the operator selected. The result is a point cloud which is then used to find the desired solution. The comparison between the four discrete gradient operators (Frei-Chen, Prewitt, Roberts and Sobel) has been made taking into account the resolution of the image and the number of vanishing points. The results obtained show that Frei-Chen’s operator shows good performance in determining vanishing points with respect to the spatial X axis, Sobel’s operator is the best for determining the vanishing point with respect to the spatial Y axis, Roberts’ operator gives good results for calculating vanishing points in both spatial axes, and Prewitt’s operator is not appropriate for processing this type of image.     

Dynamic Simulation of Multi-Body Systems on Internet Using CORBA,Java and XML

In this paper a prototype of a computer program for multi-bodysimulation based on the use of CORBA, Java and XML is presented. Thisprototype makes use of a recursive dynamic formalism which outperformsmany implementations based on global formulations. The prototypepresented has been implemented using distributed Object OrientedProgramming techniques. The definition of the multi-body system is donethrough a data file defined using XML (eXtendible Markup Language). Thisprototype implements a `simulation service' on a network of computers,following a client-server scheme. This `simulation service' can operatein two different ways: offering a remote simulation on the server, orproviding a Java compiled code for local simulation on the client. Thepaper describes the practical implementation of such a service. The useof recursive functions and OOP permits the implementation of ageneral-purpose simulation code, which is compact, clear, clean,re-usable and easy to maintain. Once this Java code is compiled, it isstored in less than 125 Kbytes (including the numerical integrators).The Java programming language is used in order to assure compatibilitybetween different platforms. Finally, practical examples which make useof this approach are shown.     

Selection of Strategies for Collision-free Motion in Multi-manipulator Systems

Strategy-based path planning was introduced by the authors as a way to give robotic manipulators some sort of reactive behaviour in dynamic and unpredictable environments. This approach is based on making robots react to moving obstacles using a restricted subset of the configuration space, and on using an off-line pre-planning stage to choose the restricted subset. In this paper, strategy-based path planning is applied and explored, focusing our attention on the off-line stage. It is applied to the joint motion of two and three robots that perform pick and place tasks sharing common working areas.     

iCanCloud: A Flexible and Scalable Cloud Infrastructure Simulator

Simulation techniques have become a powerful tool for deciding the best starting conditions on pay-as-you-go scenarios. This is the case of public cloud infrastructures, where a given number and type of virtual machines (in short VMs) are instantiated during a specified time, being this reflected in the final budget. With this in mind, this paper introduces and validates iCanCloud, a novel simulator of cloud infrastructures with remarkable features such as flexibility, scalability, performance and usability. Furthermore, the iCanCloud simulator has been built on the following design principles: (1) it’s targeted to conduct large experiments, as opposed to others simulators from literature; (2) it provides a flexible and fully customizable global hypervisor for integrating any cloud brokering policy; (3) it reproduces the instance types provided by a given cloud infrastructure; and finally, (4) it contains a user-friendly GUI for configuring and launching simulations, that goes from a single VM to large cloud computing systems composed of thousands of machines.     

Virulence-resistance plasmids (pUO-StVR2-like) in meat isolates of Salmonella enterica serovar Typhimurium

During a screening of Salmonella enterica in foods of animal origin four isolates of serovar Typhimurium carrying hybrid virulence-resistance plasmids were detected. Three of them, one from pork and two from chicken meat, contained pUO-StVR2, a derivative of the pSLT virulence plasmid with the bla_OXA-1, catA1, aadA1, sulI and tet(B) genes, which confer resistance to ampicillin, chloramphenicol, streptomycin-spectinomycin, sulfonamides and tetracycline, respectively. The fourth isolate, from pork, harbored a pUO-StVR2 variant (termed ν8) with an additional dfrA10 gene responsible for resistance to trimethoprim. This gene is part of the orf513-dfrA10-qacEΔ1-sul1 element characteristically found in complex class 1 integrons. Pulsed-field gel electrophoresis identified two XbaI-BlnI combined profiles: X2-B2 generated from the three pUO-StVR2 isolates, and X12-B17 shown by the pUO-StVR2-ν8 isolate. The same profiles have also been found in clinical and ill pig isolates, supporting chicken and pork meat as vehicles for transmission of Typhimurium carrying pUO-StVR2-like plasmids.