An observer-based approach for the projection onto a 2d-curve under movement

Standard path control laws of autonomous vehicles use the shortest distance between the vehicle’s position and the path as a control error. In order to determine this distance, the projection point onto the path needs to be determined continuously. This requires fast algorithms that feature high numerical reliability in the field of vehicle application.This paper presents two different observer-based approaches for the projection problem. The identity observer reconstructs all states of interest for path control. The second one, a reduced observer, only possesses the curve parameter as a state and calculates the other values by algebraic formulas. Both algorithms consider the continuous movement of the vehicle, the run of the curve, and work without any approximation of the curve. Furthermore, they are applicable for arbitrary parameterized smooth curves, guarantee the required numerical stability, have short calculating time, and show good statistical properties. The performance is shown in several simulations as well as under real conditions.     

A data fusion framework with novel hybrid algorithm for multi-agent Decision Support System for Forest Fire

In this study Forest Fire Decision Support System (FOFDESS) which is a multi-agent Decision Support System for Forest Fire has been presented. Depending on the existing meteorological state and environmental observations, FOFDESS does the fire danger rating by predicting the forest fire and it can also approximate fire spread speed and quickly detect a started fire. Some data fusion algorithms such as Artificial Neural Network (ANN), Naive Bayes Classifier (NBC), Fuzzy Switching (FS) and image processing have been used for these operations in FOFDESS. These algorithms have been brought together by a designed data fusion framework and a novel hybrid algorithm called NABNEF (Naive Bayes Aided Neural-Fuzzy Algorithm) has been improved for fire danger rating in FOFDESS. In this state, FOFDESS is an integrated system which includes the dimensions of prediction, detection and management. As a result of the experiments, it was found out that FOFDESS helped determining the most accurate strategy for fire fighting by producing effective results.     

Optimizing the execution of XSLT stylesheets for querying transformed XML data

We have to deal with different data formats whenever data formats evolve or data must be integrated from heterogeneous systems. These data when implemented in XML for data exchange cannot be shared freely among applications without data transformation. A common approach to solve this problem is to convert the entire XML data from their source format to the applications’ target formats using the transformations rules specified in XSLT stylesheets. However, in many cases, not all XML data are required to be transformed except for a smaller part described by a user’s query (application). In this paper, we present an approach that optimizes the execution time of an XSLT stylesheet for answering a given XPath query by modifying the XSLT stylesheet in such a way that it would (a) capture only the parts in the XML data that are relevant to the query and (b) process only those XSLT instructions that are relevant to the query. We prove the correctness of our optimization approach, analyze its complexity and present experimental results. The experimental results show that our approach performs the best in terms of execution time, especially when many cost-intensive XSLT instructions can be excluded in the XSLT stylesheet.     

Analyzing CAD competence with univariate and multivariate learning curve models

Understanding how learning occurs, and what improves or impedes the learning process is of importance to academicians and practitioners; however, empirical research on validating learning curves is sparse. This paper contributes to this line of research by collecting and analyzing CAD (computer-aided design) procedural and cognitive performance data for novice trainees during 16-weeks of training. The declarative performance is measured by time, and the procedural performance by the number of features used to construct a design part. These data were analyzed using declarative or procedural performance separately as predictors (univariate), or a combination of declarative or procedural predictors (multivariate). Furthermore, a method to separate the declarative and procedural components from learning curve data is suggested.     

Coding of watershed and river hierarchy to support GIS-based hydrological analyses at different scales

A procedure is presented to automatically assign a modified Pfafstetter code to a stream network and its associated watersheds. The first step is to build a topological network according to the object-oriented Arc Hydro framework definition in ArcGIS. These network relations are then mapped into a code that fully represents the stream hierarchy of a basin in a single attribute. Its use does not depend on ArcGIS object orientation and facilitates simple hierarchical aggregation and querying using only the attribute tables of shapefile versions of the stream network and watershed datasets. The code was implemented for the whole of Austria to support the flexible presentation and user-defined aggregation of water balance results in the digital version of the Hydrological Atlas of Austria.     

Shape from Shading Using Probability Functions and Belief Propagation

Shape-from-shading (SFS) aims to reconstruct the three-dimensional shape of an object from a single shaded image. This article proposes an improved framework based on belief propagation for computing SFS. The implementation of the well-known brightness, integrability and smoothness constraints inside this framework is shown. We implement the constraints as probability density functions. For example, the brightness constraint is a two-dimensional probability density function that relates all possible surface gradients at a pixel to their probability given the pixel intensity. A straightforward extension of the framework to photometric stereo is presented, where multiple images of the same scene taken under different lighting conditions are available. The results are promising, especially since the solution is obtained by iteratively applying simple operations on a regular grid of points. The presented framework therefore can be implemented in parallel and is a reasonably likely biological scheme.     

Cognitive agents — a procedural perspective relying on the predictability of Object-Action-Complexes (OACs)

Embodied cognition suggests that complex cognitive traits can only arise when agents have a body situated in the world. The aspects of embodiment and situatedness are being discussed here from the perspective of linear systems theory. This perspective treats bodies as dynamic, temporally variable entities, which can be extended (or curtailed) at their boundaries. We show how acting agents can, for example, actively extend their body for some time by incorporating predictably behaving parts of the world and how this affects the transfer functions. We suggest that primates have mastered this to a large degree increasingly splitting their world into predictable and unpredictable entities. We argue that temporary body extension may have been instrumental in paving the way for the development of higher cognitive complexity as it is reliably widening the cause-effect horizon about the actions of the agent. A first robot experiment is sketched to support these ideas.We continue discussing the concept of Object-Action Complexes (OACs) introduced by the European PACO-PLUS consortium to emphasize the notion that, for a cognitive agent, objects and actions are inseparably intertwined. In another robot experiment we devise a semi-supervised procedure using the OAC-concept to demonstrate how an agent can acquire knowledge about its world. Here the notion of predicting changes fundamentally underlies the implemented procedure and we try to show how this concept can be used to improve the robot’s inner model and behaviour. Hence, in this article we have tried to show how predictability can be used to augment the agent’s body and to acquire knowledge about the external world, possibly leading to more advanced cognitive traits.     

The effect of the microfluidic diodicity on the efficiency of valve-less rectification micropumps using Lattice Boltzmann Method

The efficiency of the valve-less rectification micropump depends primarily on the microfluidic diodicity (the ratio of the backward pressure drop to the forward pressure drop). In this study, different rectifying structures, including the conventional structures (nozzle/diffuser and Tesla structures), were investigated at very low Reynolds numbers (between 0.2 and 60). The rectifying structures were characterized with respect to their design, and a numerical approach was illustrated to calculate the diodicity for the rectifying structures. In this study, the microfluidic diodicity was evaluated numerically for different rectifying structures including half circle, semicircle, heart, triangle, bifurcation, nozzle/diffuser, and Tesla structures. The Lattice Boltzmann Method (LBM) was utilized as a numerical method to simulate the fluid flow in the microscale. The results suggest that at very low Reynolds number flow, rectification and multifunction micropumping may be achievable by using a number of the presented structures. The results for the conventional structures agree with the reported results.     

Changes in the microstructure of materials and their impact on reliability: experiments and modeling

Several types of microstructural changes in microelectronic solder materials are briefly discussed, namely the formation of intermetallics, Kirkendall voiding, spinodal decomposition, and coarsening. Moreover, a theoretical framework, based on the entropy principle, is developed by means of which constitutive equations can be derived that are necessary to understand and simulate such processes. The resulting equations are specialized to binary alloys and then investigated numerically. Finally, simulations of spinodal decomposition and coarsening are performed for the eutectic solder AgCu. The theoretical predictions are compared with experiments.

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