Theory and implementation of path planning by negotiation for decentralized agents

This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm is augmented by the introduction of waypoints, which increase performance at the cost of additional wireless traffic. An implementation of the algorithm is tested in simulation and successfully applied to a real system of autonomous robots. The results are presented and discussed.     

Visual Navigation for Mobile Robots: A Survey

Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles. The paper deals with two major approaches: map-based navigation and mapless navigation. Map-based navigation has been in turn subdivided in metric map-based navigation and topological map-based navigation. Our outline to mapless navigation includes reactive techniques based on qualitative characteristics extraction, appearance-based localization, optical flow, features tracking, plane ground detection/tracking, etc... The recent concept of visual sonar has also been revised. This work is partially supported by DPI 2005-09001-C03-02 and FEDER funding.     

Entwicklung Serviceorientierter Architekturen zur Integration von Produktion und Dienstleistung – Eine Konzeptionsmethode und ihre Anwendung am Beispiel des Recyclings elektronischer Geräte

Offering product-service bundles (consisting of products and services) is becoming more important for companies. Modifying the organizational structure of the cooperation as well as adapting to changing customer demands requires versatile information systems. Implementing Service Oriented Architectures (SOA) is one attempt to provide this flexibility. Currently, there is little methodical guidance for the identification, specification and implementation of services as building blocks of Service Oriented Architectures. Accounting for this need, a conceptual approach is designed, which adapts approaches of customer integration, and combines a business and IT analysis. The applicability of the method is demonstrated by designing a Service Oriented Architecture for the recycling of electronic equipment. Implementing services for other product-service bundles will support additional integration scenarios. By standardizing services, a sound integration of products and services can be backed by providing a reference architecture.     

Adaptive training of video sets for image recognition on mobile phones

We present an enhancement towards adaptive video training for PhoneGuide, a digital museum guidance system for ordinary camera-equipped mobile phones. It enables museum visitors to identify exhibits by capturing photos of them. In this article, a combined solution of object recognition and pervasive tracking is extended to a client–server-system for improving data acquisition and for supporting scale-invariant object recognition. A static as well as a dynamic training technique are presented that preprocess the collected object data differently and apply two types of neural networks (NN) for classification. Furthermore, the system enables a temporal adaptation for ensuring a continuous data acquisition to improve the recognition rate over time. A formal field experiment reveals current recognition rates and indicates the practicability of both methods under realistic conditions in a museum.

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Physics-guided machine learning from simulated data with different physical parameters

Knowledge and Information Systems - Physics-based models are widely used to study dynamical systems in a variety of scientific and engineering problems. However, these models are necessarily...     

A Novel Magnetic Hardening Mechanism for Nd-Fe-B Permanent Magnets Based on Solid-State Phase Transformation

Permanent magnets based on neodymium-iron-boron (Nd-Fe-B) alloys provide the highest performance and energy density, finding usage in many high-tech applications. Their magnetic performance relies on the intrinsic properties of the hard-magnetic Nd₂Fe₁₄B phase combined with control over the microstructure during production. In this study, a novel magnetic hardening mechanism is described in such materials based on a solid-state phase transformation. Using modified Nd-Fe-B alloys of the type Nd₁₆Fe_bal-x-y-zCo_xMo_yCu_zB₇ for the first time it is revealed how the microstructural transformation from the metastable Nd₂Fe₁₇B_x phase to the hard-magnetic Nd₂Fe₁₄B phase can be thermally controlled, leading to an astonishing increase in coercivity from ≈200 kAm⁻¹ to almost 700 kAm⁻¹. Furthermore, after thermally treating a quenched sample of Nd₁₆Fe₅₆Co₂₀Mo₂Cu₂B₇, the presence of Mo leads to the formation of fine FeMo₂B₂ precipitates, in the range from micrometers down to a few nanometers. These precipitates are responsible for the refinement of the Nd₂Fe₁₄B grains and so for the high coercivity. This mechanism can be incorporated into existing manufacturing processes and can prove to be applicable to novel fabrication routes for Nd-Fe-B magnets, such as additive manufacturing.     

Giant Anomalous Hall and Nernst Conductivities in Magnetic All-d Metal Heusler Alloys

All-d Heuslers are a category of novel compounds combining versatile functionalities such as caloric responses and spintronics with enhanced mechanical properties. Despite the promising transport properties (anomalous Hall (AHC) and anomalous Nernst (ANC) conductivities) shown in the conventional Co₂XY Heuslers with p-d hybridization, the all-d Heuslers with only d-d hybridization open a new horizon to search for new candidates with outstanding transport properties. In this work, the AHC and ANC are evaluated for thermodynamically stable ferro/ferri-magnetic all-d-metal regular Heusler compounds based on high-throughput first-principles calculations. It is observed that quite a few materials exhibit giant AHCs and ANCs, such as cubic Re₂TaMn with an AHC of 2011 S cm^-1, and tetragonal Pt₂CrRh with an AHC of 1966 S cm^-1 and an ANC of 7.50 A m^-1K^-1. Comprehensive analysis on the electronic structure reveals that the high AHC can be attributed to the occurrence of the Weyl nodes or gapped nodal lines in the neighborhood of the Fermi level. The correlations between such transport properties and the number of valence electrons are also thoroughly investigated, which provides a practical guidance to tailor AHC and ANC via chemical doping for transverse thermoelectric applications.