Principles of adjustable autonomy: a framework for resilient human–machine cooperation

Unmanned ground vehicles tend to be more and more autonomous, but both complete teleoperation and full autonomy are not efficient enough to deal with all possible situations. To be efficient, the human–robot system must be able to anticipate, react and recover from errors of different kinds, i.e., to be resilient. From this observation, this paper proposes a survey on the resilience of a human–machine system and the means to control the resilience. The resilience of a system can be defined as the ability to maintain or recover a stable state when subject to disturbance. Adjustable autonomy and human–machine cooperation are considered as means of resilience for the system. This paper then proposes three indicators to assess different meanings of resilience of the system: foresight and avoidance of events, reaction to events and recovery from occurrence of events. The third of these metrics takes into consideration the concept of affordances that allows a common representation for the opportunities of action between the automated system and its environment.     

Bond graph based control of a three-phase inverter with LC filter – Connection to passive and active loads

This paper proposes a model of a three phase electrical inverter with a LC output filter in delta connection used in a renewable energy supply system. The concept of inverse bond graph via bicausality is used for the control law design. The control law robustness is tested by connecting passive and active (induction machine) loads.     

Randomized constraint solvers: a comparative study

The complexity of constraints is a major obstacle for constraint-based software verification. Automatic constraint solvers are fundamentally incomplete: input constraints often build on some undecidable theory or some theory the solver does not support. This paper proposes and evaluates several randomized solvers to address this issue. We compared the effectiveness of a symbolic solver (CVC3), a random solver, two heuristic search solvers, and seven hybrid solvers (i.e. mix of random, symbolic, and heuristic solvers). We evaluated the solvers on a benchmark generated with a concolic execution of 9 subjects. The performance of each solver was measured by its precision, which is the fraction of constraints that the solver can find solution out of the total number of constraints that some solver can find solution. As expected, symbolic solving subsumes the other approaches for the 4 subjects that only generate decidable constraints. For the remaining 5 subjects, which contain undecidable constraints, the hybrid solvers achieved the highest precision (fraction of constraints that a solver can find a solution out of the total number of satisfiable constraints). We also observed that the solvers were complementary, which suggests that one should alternate their use in iterations of a concolic execution driver.     

Combining preprocessor slicing with C/C++ language slicing

Of the very few practical implementations of program slicing algorithms, the majority deal with C/C++ programs. Yet, preprocessor-related issues have been marginally addressed by these slicers, despite the fact that ignoring (or only partially handling) these constructs may lead to serious inaccuracies in the slicing results and hence in the program analysis task being performed. Recently, an accurate slicing method for preprocessor-related constructs has been proposed, which-when combined with existing C/C++ language slicers-can provide more complete slices and hence a more successful analysis of programs written in one of these languages. In this paper, we present our approach which combines the two slicing methods and, via practical experiments, describe its benefits in terms of the completeness of the resulting slices.     

Improved Interface Conditions for 2<Emphasis Type="Italic">D</Emphasis> Domain Decomposition with Corners: Numerical Applications

This article deals with a local improvement of domain decomposition methods for 2-dimensional elliptic problems for which either the geometry or the domain decomposition presents conical singularities. After explaining the main results of the theoretical analysis carried out in Chniti et al. (Calcolo 45, 2008), the numerical experiments presented in this article confirm the optimality properties of the new interface conditions.     

A tool for multiobjective evolutionary algorithms

This paper introduces a software tool based on illustrative applications for the development, analysis and application of multiobjective evolutionary algorithms. The multiobjective evolutionary algorithms tool (MOEAT) written in C# using a variety of multiobjective evolutionary algorithms (MOEAs) offers a powerful environment for various kinds of optimization tasks. It has many useful features such as visualizing of the progress and the results of optimization in a dynamic or static mode, and decision variable settings. The performance measurements of well-known multiobjective evolutionary algorithms in MOEAT are done using benchmark problems. In addition, two case studies from engineering domain are presented.     

Aerodynamic optimization via multi-objective micro-genetic algorithm with range adaptation,knowledge-based reinitialization,crowding and ε-dominance

In this study, an optimization of the airfoil of a sailplane is carried out by a recently developed multi-objective genetic algorithm based on microevolution, containing crowding, range adaptation, knowledge-based reinitialization and ε-dominance. Its efficiency was tested on a set of test problems. The results are encouraging, suggesting that very small populations can be used effectively to solve real-world multi-objective optimization problems in many cases of interest.     

The use of data-derived label hierarchies in multi-label classification

Instead of traditional (multi-class) learning approaches that assume label independency, multi-label learning approaches must deal with the existing label dependencies and relations. Many approaches try to model these dependencies in the process of learning and integrate them in the final predictive model, without making a clear difference between the learning process and the process of modeling the label dependencies. Also, the label relations incorporated in the learned model are not directly visible and can not be (re)used in conjunction with other learning approaches. In this paper, we investigate the use of label hierarchies in multi-label classification, constructed in a data-driven manner. We first consider flat label sets and construct label hierarchies from the label sets that appear in the annotations of the training data by using a hierarchical clustering approach. The obtained hierarchies are then used in conjunction with hierarchical multi-label classification (HMC) approaches (two local model approaches for HMC, based on SVMs and PCTs, and two global model approaches, based on PCTs for HMC and ensembles thereof). The experimental results reveal that the use of the data-derived label hierarchy can significantly improve the performance of single predictive models in multi-label classification as compared to the use of a flat label set, while this is not preserved for the ensemble models.     

Mobile multi-view object image search

High user interaction capability of mobile devices can help improve the accuracy of mobile visual search systems. At query time, it is possible to capture multiple views of an object from different viewing angles and at different scales with the mobile device camera to obtain richer information about the object compared to a single view and hence return more accurate results. Motivated by this, we propose a new multi-view visual query model on multi-view object image databases for mobile visual search. Multi-view images of objects acquired by the mobile clients are processed and local features are sent to a server, which combines the query image representations with early/late fusion methods and returns the query results. We performed a comprehensive analysis of early and late fusion approaches using various similarity functions, on an existing single view and a new multi-view object image database. The experimental results show that multi-view search provides significantly better retrieval accuracy compared to traditional single view search.     

A system for efficient motor learning using multimodal augmented feedback

Numerous studies have established that using various forms of augmented feedback improves human motor learning. In this paper, we present a system that enables real-time analysis of motion patterns and provides users with objective information on their performance of an executed set of motions. This information can be used to identify individual segments of improper motion early in the learning process, thus preventing improperly learned motion patterns that can be difficult to correct once fully learned. The primary purpose of the proposed system is to serve as a general tool in the research on impact of different feedback modalities on the process of motor learning, for example, in sports or rehabilitation. The key advantages of the system are high-speed and high-accuracy tracking, as well as its flexibility, as it supports various types of feedback (auditory and visual, concurrent or terminal). The practical application of the proposed system is demonstrated through the example of learning a golf swing.