Design and control of an IPMC wormlike robot.

This paper presents an innovative wormlike robot controlled by cellular neural networks (CNNs) and made of an ionic polymer-metal composite (IPMC) self-actuated skeleton. The IPMC actuators, from which it is made of, are new materials that behave similarly to biological muscles. The idea that inspired the work is the possibility of using IPMCs to design autonomous moving structures. CNNs have already demonstrated their powerfulness as new structures for bio-inspired locomotion generation and control. The control scheme for the proposed IPMC moving structure is based on CNNs. The wormlike robot is totally made of IPMCs, and each actuator has to carry its own weight. All the actuators are connected together without using any other additional part, thereby constituting the robot structure itself. Worm locomotion is performed by bending the actuators sequentially from "tail" to "head," imitating the traveling wave observed in real-world undulatory locomotion. The activation signals are generated by a CNN. In the authors' opinion, the proposed strategy represents a promising solution in the field of autonomous and light structures that are capable of reconfiguring and moving in line with spatial-temporal dynamics generated by CNNs.     

Ambient occlusion and edge cueing to enhance real time molecular visualization

The paper presents a set of combined techniques to enhance the real-time visualization of simple or complex molecules (up to order of 106 atoms) space fill mode. The proposed approach includes an innovative technique for efficient computation and storage of ambient occlusion terms, a small set of GPU accelerated procedural impostors for space-fill and ball-and-stick rendering, and novel edge-cueing techniques. As a result, the user's understanding of the three-dimensional structure under inspection is strongly increased (even for still images), while the rendering still occurs in real time.     

A hypergraph model for constraint logic programming and applications to bus drivers' scheduling

In a previous paper, a hypergraph model for the satisfiability of Datalog formulas was proposed. Here, we extend that approach in order to deal with a class ofconstraint logic programming (CLP) formulas, that is, Datalog formulas in the presence of constraints. A CLP formula is represented by means of a weighted hypergraph and the problem of evaluating this formula is reduced to a sequence of shortest path computations on hypergraphs. To evaluate the performance of this approach, the bus drivers' scheduling problem is formulated as the problem of checking the satisfiability of a CLP formula and it is solved by means of the hypergraph-based algorithm embedded within a local search procedure. Preliminary experimental results are quite encouraging and suggest that the proposed approach may provide an efficient way to tackle hard real-life combinatorial problems.This research was partially supported by the Progetto Finalizzato Trasporti 2 of the Italian National Research Council, under Contract No. 91.02479.PF74.     

An Integrated Assessment of the Impacts of Changing Climate Variability on Agricultural Productivity and Profitability in an Irrigated Mediterranean Catchment

Climate change is likely to have a profound effect on many agricultural variables, although the extent of its influence will vary over the course of the annual farm management cycle. Consequently, the effect of different and interconnected physical, technical and economic factors must be modeled in order to estimate the effects of climate change on agricultural productivity. Such modeling commonly makes use of indicators that summarize the among environmental factors that are considered when farmers plan their activities. This study uses net evapotranspiration (ET_N), estimated using EPIC, as a proxy index for the physical factors considered by farmers when managing irrigation. Recent trends suggest that the probability distribution function of ET_N may continue to change in the near future due to changes in the irrigation needs of crops. Also, water availability may continue to vary due to changes in the rainfall regime. The impacts of the uncertainties related to these changes on costs are evaluated using a Discrete Stochastic Programming model representing an irrigable Mediterranean area where limited water is supplied from a reservoir. In this context, adaptation to climate change can be best supported by improvements to the collective irrigation systems, rather than by measures aimed at individual farms such as those contained within the rural development policy.     

Water quality and non-point sources of risk: the Jiulong River Watershed, P. R. of China

Retrospective water quality assessment plays an essential role in identifying trends and causal associations between exposures and risks, thus it can be a guide for water resources management. We have developed empirical relationships between several time-varying social and economic factors of economic development, water quality variables such as nitrate-nitrogen, COD(Mn), BOD(5), and DO, in the Jiulong River Watershed and its main tributary, the West River. Our analyses used alternative statistical methods to reduce the dimensionality of the analysis first and then strengthen the study's causal associations. The statistical methods included: factor analysis (FA), trend analysis, Monte Carlo/bootstrap simulations, robust regressions and a coupled equations model, integrated into a framework that allows an investigation and resolution of the issues that may affect the estimated results. After resolving these, we found that the concentrations of nitrogen compounds increased over time in the West River region, and that fertilizer used in agricultural fruit crops was the main risk with regard to nitrogen pollution. The relationships we developed can identify hazards and explain the impact of sources of different types of pollution, such as urbanization, and agriculture.     

High‐quality pagination for publishing

The problem of line breaking consists of finding the best way to split paragraphs into lines. It has been cleverly addressed by the total‐fit algorithm exposed by Knuth and Plass in a well‐known paper. Similarly, page‐breaking algorithms break the content flow of a document into page units. Formatting languages—such as the World Wide Web Consortium standard Extensible Stylesheet Language Formatting Objects (XSL‐FO)—allow users to set which content should be kept in the same page and how many isolated lines are acceptable at the beginning/end of each page. The strategies most formatters adopt to meet these requirements, however, are not satisfactory for many publishing contexts as they very often generate unpleasant empty areas. In that case, typographers are required to manually craft the results in order to completely fill pages. This paper presents a page‐breaking algorithm that extends the original Knuth and Plass line‐breaking approach and produces high‐quality documents without unwanted empty areas. The basic idea consists of delaying the definitive choice of breaks in the line‐breaking process in order to provide a larger set of alternatives to the actual pagination step. The algorithm also allows users to decide the set of properties to be adjusted for pagination and their variation ranges. An application of the algorithm to XSL‐FO is also presented, with an extension of the language that allows users to drive the pagination process. The tool, named FOP+, is a customized version of the open‐source Apache Formatting Objects Processor formatter. Copyright © 2011 John Wiley & Sons, Ltd.     

A Low‐Memory,Straightforward and Fast Bilateral Filter Through Subsampling in Spatial Domain

In this work we present a new algorithm for accelerating the colour bilateral filter based on a subsampling strategy working in the spatial domain. The base idea is to use a suitable subset of samples of the entire kernel in order to obtain a good estimation of the exact filter values. The main advantages of the proposed approach are that it has an excellent trade‐off between visual quality and speed‐up, a very low memory overhead is required and it is straightforward to implement on the GPU allowing real‐time filtering. We show different applications of the proposed filter, in particular efficient cross‐bilateral filtering, real‐time edge‐aware image editing and fast video denoising. We compare our method against the state of the art in terms of image quality, time performance and memory usage.     

Light on! Real world evaluation of a P300-based brain-computer interface (BCI) for environment control in a smart home

Brain-computer interface (BCI) systems aim to enable interaction with other people and the environment without muscular activation by the exploitation of changes in brain signals due to the execution of cognitive tasks. In this context, the visual P300 potential appears suited to control smart homes through BCI spellers. The aim of this work is to evaluate whether the widely used character-speller is more sustainable than an icon-based one, designed to operate smart home environment or to communicate moods and needs. Nine subjects with neurodegenerative diseases and no BCI experience used both speller types in a real smart home environment. User experience during BCI tasks was evaluated recording concurrent physiological signals. Usability was assessed for each speller type immediately after use. Classification accuracy was lower for the icon-speller, which was also more attention demanding. However, in subjective evaluations, the effect of a real feedback partially counterbalanced the difficulty in BCI use. PRACTITIONER SUMMARY: Since inclusive BCIs require to consider interface sustainability, we evaluated different ergonomic aspects of the interaction of disabled users with a character-speller (goal: word spelling) and an icon-speller (goal: operating a real smart home). We found the first one as more sustainable in terms of accuracy and cognitive effort.     

Dynamic aspects of visual modelling languages

A large class of diagrammatic languages falls under the broad definition of “executable graphics”, meaning that some transformational semantics can be devised for them. On the other hand, the definition of static aspects of visual languages often relies on some form of parsing or constructive process. We propose here an approach to the definition of visual languages syntax and semantics based on a notion of transition as production/consumption of resources. Transitions can be represented in forms which are intrinsic to the diagrams or external to them. A collection of abstract metamodels is presented to discuss the approach.