Color juxtaposition for pointillism based on an artistic color model and a statistical analysis

We analyze characteristics and patterns of color juxtaposition and the color theory used by pointillist painters and employ them to create rendering algorithm that generates images in a pointillist style. We determine the distribution of colors in several paintings by Seurat and quantify a number of the theory that he employs. Using an RYB color wheel and a hierarchical point generation technique, we convert an input image into a set of colored dots, which is again converted into brush strokes with appropriate shapes and directions. We present images which illustrate the extent to which we have managed to simulate Seurat’s technique.     

Development of a mobile robotic system for working in the double-hulled structure of a ship

Shipbuilding processes involve highly dangerous manual welding operations. Welding ship walls inside double-hulled structures presents a particularly hazardous environment for workers. This paper describes the “Rail Runner X” (RRX), a new robotic system that can move autonomously inside the walls of a double-hulled ship and automatically execute the required welding processes. The RRX robotic system is composed of a mobile platform and a welding robot consisting of a 3P3R serial manipulator. The robot is used to weld U-shaped trajectories located between two longitudinal stiffeners. The mobile platform enables traverse movements onto neighboring longitudinal stiffeners. The entire cross section of the robotic system is small enough to be placed inside the double-hulled structure via a conventional access hole from the outside shipyard floor. The overall engineering design process that led to the final robot solution developed is presented in this paper, including kinematic analysis data and experimental results for verifying the autonomous movement and welding performance.     

CPG-based control of a turtle-like underwater vehicle

This paper presents biologically inspired control strategies for an autonomous underwater vehicle (AUV) propelled by flapping fins that resemble the paddle-like forelimbs of a sea turtle. Our proposed framework exploits limit cycle oscillators and diffusive couplings, thereby constructing coupled nonlinear oscillators, similar to the central pattern generators (CPGs) in animal spinal cords. This paper first presents rigorous stability analyses and experimental results of CPG-based control methods with and without actuator feedback to the CPG. In these methods, the CPG module generates synchronized oscillation patterns, which are sent to position-servoed flapping fin actuators as a reference input. In order to overcome the limitation of the open-loop CPG that the synchronization is occurring only between the reference signals, this paper introduces a new single-layered CPG method, where the CPG and the physical layers are combined as a single layer, to ensure the synchronization of the physical actuators in the presence of external disturbances. The key idea is to replace nonlinear oscillators in the conventional CPG models with physical actuators that oscillate due to nonlinear state feedback of the actuator states. Using contraction theory, a relatively new nonlinear stability tool, we show that coupled nonlinear oscillators globally synchronize to a specific pattern that can be stereotyped by an outer-loop controller. Results of experimentation with a turtle-like AUV show the feasibility of the proposed control laws.     

Seat inventory control for sequential multiple flights with customer choice behavior

This paper considers a seat inventory control problem in which flights depart sequentially and passengers purchase available seats depending on customer choice behavior. Customer choice behavior can lead to either a horizontal shift or a booking loss when a desired fare class is unavailable. This problem is mathematically challenging and intractable via exact mathematical models. As an alternative heuristic approach, this paper develops a simulation-based greedy grid-search algorithm and illustrates simulation experiments using the newly developed algorithm. This paper obtains encouraging numerical results with the approach proposed here, but additional studies are required for accommodating more general assumptions such as booking arrival patterns, booking control mechanisms (e.g., cancellation and overbooking) and strategic customer behavior.     

A fact-oriented ontological approach to human process modeling for knowledge-intensive business services

Modern business environment emphasizes the role of knowledge-intensive business services (KIBS). As well as the enterprises in any other kinds of industries, business process management (BPM) can be a source of core competency for the enterprises in KIBS industry. However, most of the business processes in KIBS are human processes which are collaborative, innovative, and dynamic, which cannot be supported well by current BPM technologies. Human interaction management (HIM) has emerged as an alternative theory to deal with human processes in KIBS. But, the current ways of process modeling and management in HIM have a problem of complexity, especially in terms of realizing its principle of ‘supportive activity management’. This research adopts fact-oriented ontological approach to address this problem. Based on fact-oriented approach, human-friendly condition modeling and state management during supportive activity management can be achieved.     

Catching two rabbits: adaptive real‐time support for embedded Linux

The trend of digital convergence makes multitasking common in many digital electronic products. Some applications in those systems have inherent real‐time properties, while many others have few or no timeliness requirements. Therefore the embedded Linux kernels, which are widely used in those devices, provide real‐time features in many forms. However, providing real‐time scheduling usually induces throughput degradation in heavy multitasking due to the increased context switches. Usually the throughput degradation becomes a critical problem, since the performance of the embedded processors is generally limited for cost, design and energy efficiency reasons. This paper proposes schemes to lessen the throughput degradation, which is from real‐time scheduling, by suppressing unnecessary context switches and applying real‐time scheduling mechanisms only when it is necessary. Also the suggested schemes enable the complete priority inheritance protocol to prevent the well‐known priority inversion problem. We evaluated the effectiveness of our approach with open‐source benchmarks. By using the suggested schemes, the throughput is improved while the scheduling latency is kept same or better in comparison with the existing approaches. Copyright © 2008 John Wiley & Sons, Ltd.     

A Synthesis of Multi-Precision Multiplication and Squaring Techniques for 8-Bit Sensor Nodes: State-of-the-Art Research and Future Challenges

Multi-precision multiplication and squaring are the performance-critical operations for the implementation of public-key cryptography, such as exponentiation in RSA, and scalar multiplication in elliptic curve cryptography (ECC). In this paper, we provide a survey on the multi-precision multiplication and squaring techniques, and make special focus on the comparison of their performance and memory footprint on sensor nodes using 8-bit processors. Different from the previous work, our advantages are in at least three aspects. Firstly, this survey includes the existing techniques for multiprecision multiplication and squaring on sensor nodes over prime fields. Secondly, we analyze and evaluate each method in a systematic and objective way. Thirdly, this survey also provides suggestions for selecting appropriate multiplication and squaring techniques for concrete implementation of public-key cryptography. At the end of this survey, we propose the research challenges on efficient implementation of the multiplication and the squaring operations based on our observation.     

Robust integrated shift register circuit over clock noises for in‐cell touch applications

This paper proposes an integrated shift register circuit for an in‐cell touch panel that is robust over clock noises. It is composed of 10 thin film transistors and 1 capacitor, and the time division driving method is adopted to prevent the negative effect of display signals on the touch sensing. Two pre‐charging nodes are employed for reducing the uniformity degradation of gate pulses over time. In particular, the proposed circuit connects a drain of the first pre‐charging node's pull‐up thin film transistor (TFT) to the positive supply voltage instead of clock signals. This facilitates to lower coupling noises as well as to clock power consumption. The simulation program with an integrated circuit emphasis is conducted for the proposed circuit with low temperature poly‐silicon TFTs. The positive threshold voltage that shifts up to 12 V at the first pre‐charging pull‐up TFT can be compensated for without the uniformity degradation of gate pulses. For a 60‐Hz full‐HD display with a 120‐Hz reporting rate of touches, the clock power consumption of the proposed gate driver circuit is estimated as 7.13 mW with 160 stages of shift registers. In addition, the noise level at the first pre‐charging node is lowered to ?28.95 dB compared with 2.37 dB of the previous circuit.     

Positioning control of an underwater robot with tilting thrusters via decomposition of thrust vector

Positioning control of an underwater robot is a challenging problem due to the high disturbances of ocean flow. To overcome the high disturbance, a new underwater robot with tilting thrusters was proposed previously, which can compensate for disturbance by focusing the thrusting force in the direction of the disturbance. However, the tilting motion of the thrusters makes the system nonlinear, and the limited tilting speed sometimes makes the robot unstable. Therefore, an optimized controller is necessary. A new positioning controller is proposed for this robot using a vector decomposition method. Based on the dynamic model, the nonlinear force input term of the tilting thrusters is decomposed in the horizontal and vertical directions. Based on the decomposition, the solution is determined by a pseudo-inverse and null-space solution. Using the characteristics of the decomposed input matrix, the final solution can be found by solving a simple second-order algebraic equation to overcome the limitations of the tilting speed. The positioning was simulated to validate the proposed controller by comparing the results with a switching-based controller. Tracking results are also presented. In future work, a high-level control strategy will be developed to take advantage of the tilting thrusters by focusing the forcing direction toward the disturbance with a limited stability margin.