Vision-based control for rigid body stabilization

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move on . It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system’s trajectory. The resulting solution consists of a feedback control law based on the current and desired image coordinates and reconstructed attitude and depth ratio information, which guarantees that (i) the desired equilibrium point is an almost global attractor; (ii) a set of necessary conditions for feature visibility holds throughout the system’s trajectories; and (iii) the image of a predefined feature point is kept inside the camera’s field of view.     

Physical and thermal strain of firefighters according to the firefighting tactics used to suppress wildfires

The aim of this study was to analyse the physiological strain of firefighters, using heart rate (HR) and core temperature, during real wildfire suppression according to the type of attack performed (direct, indirect or mixed). Three intensity zones were established according to the HR corresponding to the ventilatory threshold (VT) and respiratory compensation threshold (RCT): zone 1, RCT. The exercise workload (training impulse (TRIMP)), the physiological strain index (PSI) and the cumulative heat strain index(CHSI) were calculated using the time spent in each zone, and the HR and core temperature, respectively. Significantly higher mean HR, time spent in Z2 and Z3 and TRIMP h(-1) were found in direct and mixed versus indirect attacks. The highest PSI and CHSI were observed in the direct attack. In conclusion, exercise strain and combined thermal strain, but not core temperature during wildfire suppression, are related to the type of attack performed. STATEMENT OF RELEVANCE: Our findings demonstrated that wildfire firefighting is associated with high physiological demands, which vary significantly depending on the tactics chosen for performing the task. These results should be kept in mind when planning programmes to improve wildland firefighters' physical fitness, which will allow improvement in their performance.     

Active learning paradigms for CBIR systems based on optimum-path forest classification

This paper discusses methods for content-based image retrieval (CBIR) systems based on relevance feedback according to two active learning paradigms, named greedy and planned. In greedy methods, the system aims to return the most relevant images for a query at each iteration. In planned methods, the most informative images are returned during a few iterations and the most relevant ones are only presented afterward. In the past, we proposed a greedy approach based on optimum-path forest classification (OPF) and demonstrated its gain in effectiveness with respect to a planned method based on support-vector machines and another greedy approach based on multi-point query. In this work, we introduce a planned approach based on the OPF classifier and demonstrate its gain in effectiveness over all methods above using more image databases. In our tests, the most informative images are better obtained from images that are classified as relevant, which differs from the original definition. The results also indicate that both OPF-based methods require less user involvement (efficiency) to satisfy the user's expectation (effectiveness), and provide interactive response times.     

Parameterization of computational domain in isogeometric analysis: Methods and comparison

Parameterization of computational domain plays an important role in isogeometric analysis as mesh generation in finite element analysis. In this paper, we investigate this problem in the 2D case, i.e., how to parametrize the computational domains by planar B-spline surface from the given CAD objects (four boundary planar B-spline curves). Firstly, two kinds of sufficient conditions for injective B-spline parameterization are derived with respect to the control points. Then we show how to find good parameterization of computational domain by solving a constraint optimization problem, in which the constraint condition is the injectivity sufficient conditions of planar B-spline parameterization, and the optimization term is the minimization of quadratic energy functions related to the first and second derivatives of planar B-spline parameterization. By using this method, the resulted parameterization has no self-intersections, and the isoparametric net has good uniformity and orthogonality. After introducing a posteriori error estimation for isogeometric analysis, we propose r-refinement method to optimize the parameterization by repositioning the inner control points such that the estimated error is minimized. Several examples are tested on isogeometric heat conduction problem to show the effectiveness of the proposed methods and the impact of the parameterization on the quality of the approximation solution. Comparison examples with known exact solutions are also presented.     

An hp finite element adaptive scheme to solve the Laplace model for fluid–solid vibrations

In this paper we introduce an hp finite element method to solve a two-dimensional fluid–structure spectral problem. This problem arises from the computation of the vibration modes of a bundle of parallel tubes immersed in an incompressible fluid. We prove the convergence of the method and a priori error estimates for the eigenfunctions and the eigenvalues. We define an a posteriori error estimator of the residual type which can be computed locally from the approximate eigenpair. We show its reliability and efficiency by proving that the estimator is equivalent to the energy norm of the error up to higher order terms, the equivalence constant of the efficiency estimate being suboptimal in that it depends on the polynomial degree. We present an hp adaptive algorithm and several numerical tests which show the performance of the scheme, including some numerical evidence of exponential convergence.     

Fracture analysis of plane piezoelectric/piezomagnetic multiphase composites under transient loading

The transient response of cracked composite materials made of piezoelectric and piezomagnetic phases, when subjected to in-plane magneto-electro-mechanical dynamic loads, is addressed in this paper by means of a mixed boundary element method (BEM) approach. Both the displacement and traction boundary integral equations (BIEs) are used to develop a single-domain formulation. The convolution integrals arising in the time-domain BEM are numerically computed by Lubich’s quadrature, which determines the integration weights from the Laplace transformed fundamental solution and a linear multistep method. The required Laplace-domain fundamental solution is derived by means of the Radon transform in the form of line integrals over a unit circumference. The singular and hypersingular BIEs are numerically evaluated in a precise and efficient manner by a regularization procedure based on a simple change of variable, as previously proposed by the authors for statics. Discontinuous quarter-point elements are used to properly capture the behavior of the extended crack opening displacements (ECOD) around the crack-tip and directly evaluate the field intensity factors (stress, electric displacement and magnetic induction intensity factors) from the computed nodal data. Numerical results are obtained to validate the formulation and illustrate its capabilities. The effect of the combined application of electric, magnetic and mechanical loads on the dynamic field intensity factors is analyzed in detail for several crack configurations under impact loading.     

IsoGeometric analysis using T-splines on two-patch geometries

We develop optimal approximation estimates for T-splines in the case of geometries obtained by gluing two standard tensor product patches. We derive results both for the T-spline space in the parametric domain and the mapped T-NURBS in the physical one. A set of numerical tests in complete accordance with the theoretical developments is also presented.