Pose consensus in networks of heterogeneous robots with variable time delays

This paper proposes a novel pose (position and orientation) consensus controller for networks of heterogeneous robots modeled in the operational space. The proposed controller is a distributed proportional plus damping scheme that, with a slight modification, solves both the leader–follower and leaderless consensus problems. A singularity‐free representation, unit quaternion, is used to describe the robots orientation, and the network is represented by an undirected and connected interconnection graph. Furthermore, it is shown that the controller is robust to interconnection variable time delays. Experiments with a network of two 6‐degrees‐of‐freedom robots are presented to illustrate the performance of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

High‐Order Recursive Filtering of Non‐Uniformly Sampled Signals for Image and Video Processing

We present a discrete‐time mathematical formulation for applying recursive digital filters to non‐uniformly sampled signals. Our solution presents several desirable features: it preserves the stability of the original filters; is well‐conditioned for low‐pass, high‐pass, and band‐pass filters alike; its cost is linear in the number of samples and is not affected by the size of the filter support. Our method is general and works with any non‐uniformly sampled signal and any recursive digital filter defined by a difference equation. Since our formulation directly uses the filter coefficients, it works out‐of‐the‐box with existing methodologies for digital filter design. We demonstrate the effectiveness of our approach by filtering non‐uniformly sampled signals in various image and video processing tasks including edge‐preserving color filtering, noise reduction, stylization, and detail enhancement. Our formulation enables, for the first time, edge‐aware evaluation of any recursive infinite impulse response digital filter (not only low‐pass), producing high‐quality filtering results in real time.     

Design with shape grammars and reinforcement learning

Shape grammars are a powerful and appealing formalism for automatic shape generation in computer-based design systems. This paper presents a proposal complementing the generative power of shape grammars with reinforcement learning techniques. We use simple (naive) shape grammars capable of generating a large variety of different designs. In order to generate those designs that comply with given design requirements, the grammar is subject to a process of machine learning using reinforcement learning techniques. Based on this method, we have developed a system for architectural design, aimed at generating two-dimensional layout schemes of single-family housing units. Using relatively simple grammar rules, we learn to generate schemes that satisfy a set of requirements stated in a design guideline. Obtained results are presented and discussed.     

Universal Remote Console-based next-generation accessible television

This paper presents a new approach to make current and future television universally accessible. The proposed approach provides a means of universal accessibility both for remotely operating the TV set and for interacting with online services delivered through the TV. This proposal is based on the ISO/IEC 24752 “Universal Remote Console” (URC) standard. This standard defines an abstract user interface layer called the “user interface socket” and allows the development of pluggable (plug-in) user interfaces for any type of user and any control device. The proposed approach lays the foundation for the development of advanced user interfaces that can be interacted within various modalities. Different prototypes have been developed based on this approach and tested with end users. The user tests have shown this approach to be a viable option for the proposed scenarios. Based on the experience gathered with the prototypes, recommendations and implementation options are suggested for commercial adoption.     

At the turn of the 21st century: reflections on our science

As the new century began, I took over as editor of the journal. By all accounts I inherited a robust journal - thanks to my predecessor. I made little adjustments on process and expanded the Editorial Board to reflect important emerging topics in human factors. The journal I "inherited" was in good shape, and I hope I left it a little better. In this paper, I reflect on the state of our science after making over 500 decisions over eight years (four as editor and four as associate editor). My reflections include issues concerning our theories, methodologies, and practice. These are offered as food for thought and in the hope that as we all reflect on the state of our science, we strive to make it better, more robust, and more relevant and that it has a greater influence on the world we live in. Time will tell.     

Software reuse: The Brazilian industry scenario

This paper aims at identifying some of the key factors in adopting an organization-wide software reuse program. The factors are derived from practical experience reported by industry professionals, through a survey involving 57 Brazilian small, medium and large software organizations. Some of them produce software with commonality between applications, and have mature processes, while others successfully achieved reuse through isolated, ad hoc efforts. The paper compiles the answers from the survey participants, showing which factors were more associated with reuse success. Based on this relationship, a guide is presented, pointing out which factors should be more strongly considered by small, medium and large organizations attempting to establish a reuse program.     

Performance bounds in linear control of unstable MIMO systems with pole location constraint

This paper proposes a methodology to compute quadratic performance bounds when the closed loop poles of a discrete-time multivariable control loop are confined to a disk, centred at the origin, and with radius less than one. The underlying philosophy in this constraint is to avoid certain undesirable dynamic features which arise in quadratic optimal designs. An expression for the performance loss due to the pole location constraint is also provided. Using numerical examples, we show that the performance loss is compensated by an improved transient performance, specially visible in the control signals.     

Inferring (Biological) Signal Transduction Networks via Transitive Reductions of Directed Graphs

In this paper we consider the p-ary transitive reduction (TR _p ) problem where p>0 is an integer; for p=2 this problem arises in inferring a sparsest possible (biological) signal transduction network consistent with a set of experimental observations with a goal to minimize false positive inferences even if risking false negatives. Special cases of TR _p have been investigated before in different contexts; the best previous results are as follows:

Classification of Fuzzy Mathematical Morphologies Based on Concepts of Inclusion Measure and Duality

Mathematical morphology was originally conceived as a set theoretic approach for the processing of binary images. Extensions of classical binary morphology to gray-scale morphology include approaches based on fuzzy set theory. This paper discusses and compares several well-known and new approaches towards gray-scale and fuzzy mathematical morphology. We show in particular that a certain approach to fuzzy mathematical morphology ultimately depends on the choice of a fuzzy inclusion measure and on a notion of duality. This fact gives rise to a clearly defined scheme for classifying fuzzy mathematical morphologies. The umbra and the level set approach, an extension of the threshold approach to gray-scale mathematical morphology, can also be embedded in this scheme since they can be identified with certain fuzzy approaches.

Post-embryonic development of the antennal sensilla in Melipona quadrifasciata anthidioides (Hymenoptera: Meliponini)

The sensilla are sensory organs formed by cuticular and cellular structures specialized in reception of chemical and physical stimuli from the environment and transmission to the insect's central nervous system. In function of the great concentration of sensilla, the antennae are the main organs for interaction between bees and with the environment. This work studied the presence of antennal sensilla in the different phases of pupal development of the stingless bee Melipona quadrifasciata anthidioides by means of scanning electron microscopy and light microscopy. The results showed that antennal sensilla begin their development in the transition of the prepupae to the white-eyed pupae and finish it in the pigmented-body pupae phase. The antennal sensilla were exposed to the environment in the black-eyed pupae when the old cuticle is completely digested, suggesting that only in the final pupal phases can these bees perceive the environmental stimuli.