Robot-Assisted Bridge Inspection

The Center for Robot-Assisted Search and Rescue (CRASAR®) deployed a customized AEOS man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified key tasks in subsurface bridge inspection (mapping of the debris field and inspecting the bridge footings for scour), control challenges (navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS), possible improvements to human-robot interaction (having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and increased state sensing for reliability), and discussed the cooperative use of surface, underwater, and aerial vehicles. The article posits seven milestones in the development of a fully functional UMV for bridge inspection: standardize mission payloads, add health monitoring, improve teleoperation through better human-robot interaction, add 3D obstacle avoidance, improve station-keeping, handle large data sets, and support cooperative sensing.     

Optimization problems in contracted tensor networks

We discuss the calculus of variations in tensor representations with a special focus on tensor networks and apply it to functionals of practical interest. The survey provides all necessary ingredients for applying minimization methods in a general setting. The important cases of target functionals which are linear and quadratic with respect to the tensor product are discussed, and combinations of these functionals are presented in detail. As an example, we consider the representation rank compression in tensor networks. For the numerical treatment, we use the nonlinear block Gauss?CSeidel method. We demonstrate the rate of convergence in numerical tests.     

Exploring design trade-offs for achieving social inclusion in multi-tiered design problems

ABSTRACT

The digital age of the future is ‘not out there to be discovered’, but it needs to be ‘designed’. The design challenge has to address questions about how we want to live, work, and learn (as individuals and as communities) and what we value and appreciate, e.g.: reflecting on quality of life and creating inclusive societies. An overriding design trade-off for the digital age is whether new developments will increase the digital divide or will create more inclusive societies. Sustaining inclusive societies means allowing people of all ages and all abilities to exploit information technologies for personally meaningful activities. Meta-design fosters the design of socio-technical environments that end-user developers can modify and evolve at use time to improve their quality of life and favour their inclusion in the society. This paper describes three case studies in the domain of assistive technologies in which end users themselves cannot act as end-user developers, but someone else (e.g.: a caregiver or a clinician) must accept this role requiring multi-tiered architectures. The design trade-offs and requirements for meta-design identified in the context of the case studies and other researchers’ projects are described to inform the development of future socio-technical environments focused on social inclusion.     

A parallel direct solver for the self-adaptive hp Finite Element Method

In this paper we present a new parallel multi-frontal direct solver, dedicated for the hp Finite Element Method (hp-FEM). The self-adaptive hp-FEM generates in a fully automatic mode, a sequence of hp-meshes delivering exponential convergence of the error with respect to the number of degrees of freedom (d.o.f.) as well as the CPU time, by performing a sequence of hp refinements starting from an arbitrary initial mesh. The solver constructs an initial elimination tree for an arbitrary initial mesh, and expands the elimination tree each time the mesh is refined. This allows us to keep track of the order of elimination for the solver. The solver also minimizes the memory usage, by de-allocating partial LU factorizations computed during the elimination stage of the solver, and recomputes them for the backward substitution stage, by utilizing only about 10% of the computational time necessary for the original computations. The solver has been tested on 3D Direct Current (DC) borehole resistivity measurement simulations problems. We measure the execution time and memory usage of the solver over a large regular mesh with 1.5 million degrees of freedom as well as on the highly non-regular mesh, generated by the self-adaptive hp$hp$-FEM, with finite elements of various sizes and polynomial orders of approximation varying from p=1$p=1$ to p=9$p=9$. From the presented experiments it follows that the parallel solver scales well up to the maximum number of utilized processors. The limit for the solver scalability is the maximum sequential part of the algorithm: the computations of the partial LU factorizations over the longest path, coming from the root of the elimination tree down to the deepest leaf.     

Interactive Volume Rendering with Dynamic Ambient Occlusion and Color Bleeding

We propose a method for rendering volumetric data sets at interactive frame rates while supporting dynamic ambient occlusion as well as an approximation to color bleeding. In contrast to ambient occlusion approaches for polygonal data, techniques for volumetric data sets have to face additional challenges, since by changing rendering parameters, such as the transfer function or the thresholding, the structure of the data set and thus the light interactions may vary drastically. Therefore, during a preprocessing step which is independent of the rendering parameters we capture light interactions for all combinations of structures extractable from a volumetric data set. In order to compute the light interactions between the different structures, we combine this preprocessed information during rendering based on the rendering parameters defined interactively by the user. Thus our method supports interactive exploration of a volumetric data set but still gives the user control over the most important rendering parameters. For instance, if the user alters the transfer function to extract different structures from a volumetric data set the light interactions between the extracted structures are captured in the rendering while still allowing interactive frame rates. Compared to known local illumination models for volume rendering our method does not introduce any substantial rendering overhead and can be integrated easily into existing volume rendering applications. In this paper we will explain our approach, discuss the implications for interactive volume rendering and present the achieved results.     

Using a Reliability Growth Model to Control Software Inspection

After a software inspection the project manager has to decide whether he can pass a product on to the next software development stage or whether it still contains a substantial number of defects and should be reinspected to further improve its quality. While a substantial number of defects remaining in a product after inspection is a reasonable precondition to schedule a reinspection, it is also important to estimate whether the likely number of defects to be found with a reinspection will lower the defect density under the target threshold. In this work we propose a reliability growth model and two heuristic linear models for software inspection, which estimate the likely number of additional defects to be found during reinspection. We evaluate the accuracy of these models with time-stamped defect data from a large-scale controlled inspection experiment on reinspection. Main findings are: (a) The two best models estimated the defect detection capability for reinspection with good accuracy: over 80% of the estimates had an absolute relative error of under 10%; (b) The reinspection decision correctness based on the estimates of all investigated models, overall around 80% correct decisions, was much better than the trivial models to always or never reinspect; the latter is the default decision in practice.     

Survey on test data generation tools

Automating the process of software testing is a very popular research topic and of real interest to industry. Test automation can take part on different levels, e.g., test execution, test case generation, test data generation. This survey gives an overview of state-of-the art test data generation tools, either academic or commercial. The survey focuses on white- and gray-box techniques. The list of existing tools was filtered with respect to their public availability, their maturity, and activity. The remaining seven tools, i.e., AgitarOne, CodePro AnalytiX, AutoTest, C++test, Jtest, RANDOOP, and PEX, are briefly introduced and their evaluation results are summarized. For the evaluation we defined 31 benchmark tests, which check the tools capabilities to generate test data that satisfies a given specification: 24 primitive type benchmarks and 7 non-primitive type and more complex with respect to the specification benchmarks. Most of the commercial tools implement a test data strategy that uses constant values found in the method under test or values that are slightly modified by means of mathematical operations. This strategy turns out to be very effective. In general, all tools that combine multiple techniques perform very well. For example PEX uses constraint solving techniques, but in cases where the constraint solver reaches its limitations it uses random based techniques to overcome those limitations. Especially, the two commercial tools AgitarOne and PEX that combine multiple approaches to test data generation are able to pass all 31 tests. This survey reflects the status in 2011.