PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision

We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.     

Die Rolle der Kultur in der Selbstoffenbarung und Privatsph?re in sozialen Onlinenetzwerken

Social Network Sites (SNSs) rely exclusively on user-generated content to offer engaging and rewarding experience to its members. As a result, stimulating user communication and self-disclosure is vital for the sustainability of SNSs. However, considering that the SNS users are increasingly culturally diverse, motivating this audience to self-disclose requires understanding of their cultural intricacies. Yet existing research offers only limited insights into the role of culture behind the motivation of SNS users to self-disclose. Building on the privacy calculus framework, this study explores the role of two cultural dimensions ?C individualism and uncertainty avoidance ?C in self-disclosure decisions of SNS users. Survey responses of US and German Facebook members are used as the basis for our analysis. Structural equation modeling and multi-group analysis results reveal the distinct role of culture in the cognitive patterns of SNS users. The authors find that trusting beliefs play a key role in the self-disclosure decisions of users from individualistic cultures. At the same time, uncertainty avoidance determines the impact of privacy concerns. This paper contributes to the theory by rejecting the universal nature of privacy calculus processes. The findings provide for an array of managerial implications for SNS providers as they strive to encourage content creation and sharing by their heterogeneous members.     

QPSchur: A dual, active-set, Schur-complement method for large-scale and structured convex quadratic programming

We describe an active-set, dual-feasible Schur-complement method for quadratic programming (QP) with positive definite Hessians. The formulation of the QP being solved is general and flexible, and is appropriate for many different application areas. Moreover, the specialized structure of the QP is abstracted away behind a fixed KKT matrix called K_o and other problem matrices, which naturally leads to an object-oriented software implementation. Updates to the working set of active inequality constraints are facilitated using a dense Schur complement, which we expect to remain small. Here, the dual Schur complement method requires the projected Hessian to be positive definite for every working set considered by the algorithm. Therefore, this method is not appropriate for all QPs. While the Schur complement approach to linear algebra is very flexible with respect to allowing exploitation of problem structure, it is not as numerically stable as approaches using a QR factorization. However, we show that the use of fixed-precision iterative refinement helps to dramatically improve the numerical stability of this Schur complement algorithm. The use of the object-oriented QP solver implementation is demonstrated on two different application areas with specializations in each area; large-scale model predictive control (MPC) and reduced-space successive quadratic programming (with several different representations for the reduced Hessian). These results demonstrate that the QP solver can exploit application-specific structure in a computationally efficient and fairly robust manner as compared to other QP solver implementations.     

AC brushless drive with low-resolution Hall-effect sensors for surface-mounted PM Machines

An ac brushless drive in which Hall-effect sensors are used as rotor position sensors is presented in this paper. Three different methods to obtain a high-resolution position estimation from the low-resolution sensors are described and compared through simulation and experimental testing. The proposed control algorithm's most innovative feature is its adaptability to the entire speed range, including startup, when using any of the three estimation algorithms. The control algorithm has been implemented and tested in order to drive a slotless axial-flux permanent-magnet (PM) machine for domestic appliance applications.     

Perceived Facial Expressions of Emotion as Motivational Incentives: Evidence From a Differential Implicit Learning Paradigm.

Participants (N = 216) were administered a differential implicit learning task during which they were trained and tested on 3 maximally distinct 2nd-order visuomotor sequences, with sequence color serving as discriminative stimulus. During training, 1 sequence each was followed by an emotional face, a neutral face, and no face, using backward masking. Emotion (joy, surprise, anger), face gender, and exposure duration (12 ms, 209 ms) were varied between participants; implicit motives were assessed with a picture-story exercise. For power-motivated individuals, low-dominance facial expressions enhanced and high-dominance expressions impaired learning. For affiliation-motivated individuals, learning was impaired in the context of hostile faces. These findings did not depend on explicit learning of fixed sequences or on awareness of sequence-face contingencies. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

High-efficiency photon-number detection for quantum information processing

The visible light photon counter (VLPC) features high quantum efficiency (QE) and low pulse height dispersion. These properties make it ideal for efficient photon-number state detection. The ability to perform efficient photon-number state detection is important in many quantum information processing applications, including recent proposals for performing quantum computation with linear optical elements. In this paper, we investigate the unique capabilities of the VLPC. The efficiency of the detector and cryogenic system is measured at 543 nm wavelengths to be 85%. A picosecond pulsed laser is then used to excite the detector with pulses having average photon numbers ranging from 3-5. The output of the VLPC is used to discriminate photon numbers in a pulse. The error probability for number state discrimination is an increasing function of the number of photons, due to buildup of multiplication noise. This puts an ultimate limit on the ability of the VLPC to do number state detection. For many applications, it is sufficient to discriminate between 1 and more than one detected photon. The VLPC can do this with 99% accuracy.     

Control topology options for single-phase UPS inverters

Four control topologies for single-phase uninterruptible power system (UPS) inverters are presented and compared, with the common objective of providing a dynamically stiff, low total harmonic distortion (THD), sinusoidal output voltage. Full-state feedback, full-state command controllers are shown, utilizing both filter inductor current and filter capacitor current feedback to augment output voltage control. All controllers presented include output voltage decoupling in a manner analogous to “back EMF” decoupling in DC motor drives. Disturbance input decoupling of the load current and its derivative is presented. An observer-based controller is additionally considered and is shown to be a technically viable, economically attractive option. The accuracy transfer function of the observer estimate is used to evaluate its measurement performance. Comparative disturbance rejection is evaluated by overlaying the dynamic stiffness (inverse of output impedance) frequency response of each controller on a single plot. Experimental results for one controller are presented     

Integrating skills into multi-agent systems

Currently, an important topic of robotic research is the design and development of multi-agent robot systems (MASs). In these a number of autonomous robots cooperate and coordinate themselves in order to pursue given goals. The agents of an MAS not only have to work autonomously or in cooperation with other agents, but in dynamic, relatively unstructured environments. Therefore, the agents require agent-specific but flexible skills to cope with their tasks and the environment's variability. On the other hand, the actions to be performed by agents in an MAS have to meet certain requirements imposed by the MAS's structure. The representation of actions has to support planning, inter-agent communication, task negotiation etc. In this paper, we describe a method of combining the agent-specific nature of skills with the requirements for a general action knowledge representation inherent to MASs, by presenting elementary operations (EOs) that provide an appropriate interface.     

Foundational Aspects of Student‐Controlled Learning: A Paradigm for Design,Development, and Assessment Appropriate for Web‐Based Instruction

This paper presents a strategy for the design and organization of materials for Web‐based instruction (WBI) founded upon cognitive modeling for the identification and organization of the major concepts in the domain of interest, based upon the Pathfinder paradigm. The original purpose of the Pathfinder paradigm was to model aspects of human semantic (associative) memory. A brief introduction to the Pathfinder paradigm is presented, and the rationale for its use in WBI is discussed. The development of this paradigm for WBI, in the context of eliciting and representing knowledge from domain experts, and its use in a pilot study is described. The domain used for the pilot study was the A* search algorithm, embedded within an introductory course in artificial intelligence. Assessment of the paradigm is also discussed, and preliminary methods are applied to the pilot study.