Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.     

Modeling Massive RFID Data Sets: A Gateway-Based Movement Graph Approach

Massive Radio Frequency Identification (RFID) data sets are expected to become commonplace in supply chain management systems. Warehousing and mining this data is an essential problem with great potential benefits for inventory management, object tracking, and product procurement processes. Since RFID tags can be used to identify each individual item, enormous amounts of location-tracking data are generated. With such data, object movements can be modeled by movement graphs, where nodes correspond to locations and edges record the history of item transitions between locations. In this study, we develop a movement graph model as a compact representation of RFID data sets. Since spatiotemporal as well as item information can be associated with the objects in such a model, the movement graph can be huge, complex, and multidimensional in nature. We show that such a graph can be better organized around gateway nodes, which serve as bridges connecting different regions of the movement graph. A graph-based object movement cube can be constructed by merging and collapsing nodes and edges according to an application-oriented topological structure. Moreover, we propose an efficient cubing algorithm that performs simultaneous aggregation of both spatiotemporal and item dimensions on a partitioned movement graph, guided by such a topological structure.     

Compositionality and lexical alignment of multi-word terms

The automatic compilation of bilingual lists of terms from specialized comparable corpora using lexical alignment has been successful for single-word terms (SWTs), but remains disappointing for multi-word terms (MWTs). The low frequency and the variability of the syntactic structures of MWTs in the source and the target languages are the main reported problems. This paper defines a general framework dedicated to the lexical alignment of MWTs from comparable corpora that includes a compositional translation process and the standard lexical context analysis. The compositional method which is based on the translation of lexical items being restrictive, we introduce an extended compositional method that bridges the gap between MWTs of different syntactic structures through morphological links. We experimented with the two compositional methods for the French–Japanese alignment task. The results show a significant improvement for the translation of MWTs and advocate further morphological analysis in lexical alignment.     

Cancellation of bulging effect on mould level in continuous casting: Experimental validation

During the continuous casting of steel, several disturbances occur and affect all the parts of the caster, including the mould where the molten steel has to be stable for good quality of the final product. Especially at high casting velocities, the bulging generates important level fluctuations which cannot be efficiently rejected by the classical controllers. To address these problems, this paper proposes an architecture combining disturbances estimation and compensation techniques. It operates as an additional module and does not need any change of the main controller currently implemented. The entire structure has been tested successfully through several simulations and by means of intensive water model experiments.     

Real-time massive convolution for audio applications on GPU

Massive convolution is the basic operation in multichannel acoustic signal processing. This field has experienced a major development in recent years. One reason for this has been the increase in the number of sound sources used in playback applications available to users. Another reason is the growing need to incorporate new effects and to improve the hearing experience. Massive convolution requires high computing capacity. GPUs offer the possibility of parallelizing these operations. This allows us to obtain the processing result in much shorter time and to free up CPU resources. One important aspect lies in the possibility of overlapping the transfer of data from CPU to GPU and vice versa with the computation, in order to carry out real-time applications. Thus, a synthesis of 3D sound scenes could be achieved with only a peer-to-peer music streaming environment using a simple GPU in your computer, while the CPU in the computer is being used for other tasks. Nowadays, these effects are obtained in theaters or funfairs at a very high cost, requiring a large quantity of resources. Thus, our work focuses on two mains points: to describe an efficient massive convolution implementation and to incorporate this task to real-time multichannel-sound applications.     

Temperature sensor based on the Er green upconverted emission in a fluorotellurite glass

The temperature dependence of the green upconverted emission from the two thermally coupled ²H_11/2 and ⁴S_3/2 levels of the Er³⁺ ion in a fluorotellurite glass has been analyzed as a function of the optically active ion concentration in order to check its availability as a temperature sensor. The infrared-to-green upconverted emission have been observed by the naked eyes after a cw laser diode excitation at 800 nm. The fluorescence intensity ratio between the thermally coupled emitting levels as well as the temperature sensitivity has been experimentally obtained up to 540 K. A better behaviour as a temperature sensor has been obtained for the less Er³⁺ concentrated glass with a maximum sensitivity of 54 × 10⁻⁴ K⁻¹ at 540 K, one of the highest found in rare-earth doped transparent materials.     

Antichains and compositional algorithms for LTL synthesis

In this paper, we present new monolithic and compositional algorithms to solve the LTL realizability problem. Those new algorithms are based on a reduction of the LTL realizability problem to a game whose winning condition is defined by a universal automaton on infinite words with a k-co-Büchi acceptance condition. This acceptance condition asks that runs visit at most k accepting states, so it implicitly defines a safety game. To obtain efficient algorithms from this construction, we need several additional ingredients. First, we study the structure of the underlying automata constructions, and we show that there exists a partial order that structures the state space of the underlying safety game. This partial order can be used to define an efficient antichain algorithm. Second, we show that the algorithm can be implemented in an incremental way by considering increasing values of k in the acceptance condition. Finally, we show that for large LTL formulas that are written as conjunctions of smaller formulas, we can solve the problem compositionally by first computing winning strategies for each conjunct that appears in the large formula. We report on the behavior of those algorithms on several benchmarks. We show that the compositional algorithms are able to handle LTL formulas that are several pages long.     

Home-based communication system for older adults and their remote family

As in many Latin–American countries, in Mexico many older adults live alone as a result of the migration of one or more of their relatives, mostly to the USA. Thus, not only do they live alone, but they might seldom see these relatives for long periods, even though they often depend on them financially. With the goal of designing appropriate communication technology for seniors and their relatives experiencing this situation, we conducted interviews and evaluated scenarios and prototypes to reveal the practical ways they maintain emotional ties despite the distance. Based on those findings, we envisioned a communication system through which seniors and their relatives can maintain close social ties by sharing information, personal reminiscences and stories. We found that older adults perceived the system as a richer, natural form of communication with their relatives that could facilitate their integration into the networks that currently connect members of their families.     

Objective selection of suitable unit cell size in data-driven modeling of mineral prospectivity

In GIS-based data-driven modeling of mineral prospectivity, a suitably fine unit cell size is used for spatial representation of known occurrences of mineral deposits of the type sought (D) in a study area (T). However, until now, the unit cell size is chosen subjectively. In this paper, a methodology is proposed for objective selection of the most suitable unit cell size for data-driven modeling of mineral prospectivity using a raster-based GIS. A set of choices of suitable unit cell sizes is first derived via point pattern analysis of a set of known occurrences of mineral deposits of the type sought. Then, (a) the lower limit of a set of choices of suitable unit cell sizes is considered and defined according to the map scales from which spatial data for mineral prospectivity mapping were derived, and (b) the upper limit of the same set of choices of suitable unit cell sizes is considered (and revised as necessary) based on knowledge of spatial extents of mineral deposits of the type sought or via analysis of reflexive nearest neighbour points. Finally, it is shown that fractal analysis of spatial contrast between unit cells containing D and unit cells not containing D in T provides for objective selection of the most suitable unit cell size. In a case study application of the weight-of-evidence method to mineral prospectivity mapping, using the most suitable unit cell size, found via the proposed methodology, results in spatial evidence weights and weight uncertainties that are nearly identical to those derived by using the finest (i.e., lower limit) unit cell size. In contrast to using the most suitable unit cell size, using coarser unit cell sizes result in higher positive weights, lower negative weights and higher weight uncertainties of spatial evidence of mineral prospectivity. The proposed methodology for objective selection of the most suitable unit cell size in data-driven modeling of mineral prospectivity using a raster-based GIS is robust and can easily be implemented.     

A robust constrained reference governor approach using linear matrix inequalities

The purpose of this paper is to examine and provide a solution to the output reference tracking problem for uncertain systems subject to input saturation. As well-known, input saturation and modelling errors are very common problems at industry, where control schemes are implemented without accounting for such problems. In many cases, it is sometimes difficult to modify the existing implemented control schemes being necessary to provide them with external supervisory control approaches in order to tackle problems with constraints and modelling errors. In this way, a cascade structure is proposed, combining an inner loop containing any proper controller with an outer loop where a generalized predictive controller (GPC) provides adequate references for the inner loop considering input saturations and uncertainties. Therefore, the contribution of this paper consists in providing a state space representation for the inner loop and using linear matrix inequalities (LMI) to obtain a predictive state-vector feedback in such a way that the input reference for the inner loop is calculated to satisfy robust tracking specifications considering input saturations. Hence, the final proposed solution consists in solving a regulation problem to a fixed reference value subjected to a set of constraints described by several LMI and bilinear matrix inequalities (BMI). The main contribution of the paper is that the proposed solution is a non-linear setpoint tracking approach, that is, it is allowed that the system goes into saturation facing the problem of setpoint tracking instead of regulating to the origin. An illustrative numerical example is presented.