Autonomy for Mars Rovers: Past, Present, and Future

The vehicles used to explore the Martian surface require a high degree of autonomy to navigate challenging and unknown terrain, investigate targets, and detect scientific events. Increased autonomy will be critical to the success of future missions.     

The Gaussian scale-space paradigm and the multiscale local jet

A representation of local image structure is proposed which takes into account both the image's spatial structure at a given location, as well as its deep structure, that is, its local behaviour as a function of scale or resolution (scale-space). This is of interest for several low-level image tasks. The proposed basis of scale-space, for example, enables a precise local study of interactions of neighbouring image intensities in the course of the blurring process. It also provides an extrapolation scheme for local image data, obtained at a given spatial location and resolution, to a finite scale-space neighbourhood. This is especially useful for the determination of sampling rates and for interpolation algorithms in a multilocal context. Another, particularly straightforward application is image enhancement or deblurring, which is an instance of data extrapolation in the high-resolution direction.A potentially interesting feature of the proposed local image parametrisation is that it captures a trade-off between spatial and scale extrapolations from a given interior point that do not exceed a given tolerance. This (rade-off suggests the possibility of a fairly coarse scale sampling at the expense of a dense spatial sampling large relative spatial overlap of scale-space kernels).The central concept developed in this paper is an equivalence class called the multiscale local jet, which is a hierarchical, local characterisation of the image in a full scale-space neighbourhood. For this local jet, a basis of fundamental polynomials is constructed that captures the scale-space paradigm at the local level up to any given order.     

Sliding Mode Control with Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic Servo-System

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including high force to weight ratio, fast response time and compact size. However, precise control of electro-hydraulic systems, due to their inherent nonlinear characteristics, cannot be easily obtained with conventional linear controllers. Most flow control valves can also exhibit some hard nonlinearities such as dead-zone due to valve spool overlap. This work describes the development of an adaptive fuzzy sliding mode controller for an electro-hydraulic system with unknown dead-zone. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov stability theory and Barbalat’s lemma. Numerical results are presented in order to demonstrate the control system performance.     

An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles

Sliding mode control is a very attractive control scheme because of its robustness against both structured and unstructured uncertainties as well as external disturbances. In this way, it has been widely employed for the dynamic positioning of remotely operated underwater vehicles. Nevertheless, in such situations the discontinuities in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of properly designed boundary layers has proven effective in completely eliminating chattering, however, leading to an inferior tracking performance. This work describes the development of a dynamic positioning system for remotely operated underwater vehicles. The adopted approach is primarily based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm for uncertainty/disturbance compensation. Using the Lyapunov stability theory and Barbalat’s lemma, the boundedness and convergence properties of the closed-loop signals are analytically proven. The performance of the proposed control scheme is also evaluated by means of numerical simulations.     

A de-texturing and spatially constrained K-means approach for image segmentation

This paper presents a new and simple segmentation method based on the K-means clustering procedure and a two-step process. The first step relies on an original de-texturing procedure which aims at converting the input natural textured color image into a color image, without texture, that will be easier to segment. Once, this de-textured (color) image is estimated, a final segmentation is achieved by a spatially-constrained K-means segmentation. These spatial constraints help the iterative K-means labeling process to succeed in finding an accurate segmentation by taking into account the inherent spatial relationships and the presence of pre-estimated homogeneous textural regions in the input image. This procedure has been successfully applied on the Berkeley image database. The experiments reported in this paper demonstrate that the proposed method is efficient (in terms of visual evaluation and quantitative performance measures) and performs competitively compared to the best existing state-of-the-art segmentation methods recently proposed in the literature.     

Progressive Transmission of Vector Map Data over the World Wide Web

Within distributed computing environments, access to very large geospatial datasets often suffers from slow or unreliable network connections. To allow users to start working with a partially delivered dataset, progressive transmission methods are a viable solution. While incremental and progressive methods have been applied successfully to the transmission of raster images over the World Wide Web, and, in the form of prototypes, of triangular meshes, the transmission of vector map datasets has lacked a similar attention. This paper introduces a solution to the progressive transmission of vector map data that allows users to apply analytical GIS methods to partially transmitted data sets. The architecture follows a client-server model with multiple map representations at the server side, and a thin client that compiles transmitted increments into a topologically consistent format. This paper describes the concepts, develops an architecture, and discusses implementation concerns.