Approximate Quantified Constraint Solving by Cylindrical Box Decomposition

This paper applies interval methods to a classical problem in computer algebra. Let a quantified constraint be a first-order formula over the real numbers. As shown by A. Tarski in the 1930's, such constraints, when restricted to the predicate symbols <, = and function symbols +, ×, are in general solvable. However, the problem becomes undecidable, when we add function symbols like sin. Furthermore, all exact algorithms known up to now are too slow for big examples, do not provide partial information before computing the total result, cannot satisfactorily deal with interval constants in the input, and often generate huge output. As a remedy we propose an approximation method based on interval arithmetic. It uses a generalization of the notion of cylindrical decomposition—as introduced by G. Collins. We describe an implementation of the method and demonstrate that, for quantified constraints without equalities, it can efficiently give approximate information on problems that are too hard for current exact methods.     

The plenoptic illumination function

Image-based modeling and rendering has been demonstrated as a cost-effective and efficient approach to virtual reality applications. The computational model that most image-based techniques are based on is the plenoptic function. Since the original formulation of the plenoptic function does not include illumination, most previous image-based virtual reality applications simply assume that the illumination is fixed. We propose a formulation of the plenoptic function, called the plenoptic illumination function, which explicitly specifies the illumination component. Techniques based on this new formulation can be extended to support relighting as well as view interpolation. To relight images with various illumination configurations, we also propose a local illumination model, which utilizes the rules of image superposition. We demonstrate how this new formulation can be applied to extend two existing image-based representations, panorama representation such as QuickTime VR and two-plane parameterization, to support relighting with trivial modifications. The core of this framework is compression, and we therefore show how to exploit two types of data correlation, the intra-pixel and the inter-pixel correlations, in order to achieve a manageable storage size.     

Output tracking control of MIMO fuzzy nonlinear systems using variable structure control approach

The output tracking control problem for nonlinear systems in the presence of both parameter perturbations and external disturbances is studied. Our approach is based on the Takagi-Sugeno (T-S) fuzzy modeling method and a variable structure control (VSC) technique. Therefore, the systems considered are not and need not be in the triangular and parametric strict-feedback form, which are prevalent among adaptive model following control for nonlinear systems, or in the normal form, which pervades almost all existing results in neuro-fuzzy model following control approach. We first study the problem of stabilization of T-S fuzzy systems by using a VSC technique. A method for the design of a switching surface based on linear matrix inequalities is developed and a stabilizing controller based on a reaching law concept in the presence of both parameter perturbations and external disturbances is proposed. Then, the method is extended to design controllers for output tracking of T-S fuzzy nonlinear systems in two cases, i.e. systems which possess the so-called strong passive subsystems and strong stable zero dynamics, respectively. Finally, illustrative examples are presented to demonstrate the whole design procedure from the original nonlinear systems to their fuzzification and finally to the realization of the desired controllers. Simulation results show that the goal of output tracking can be achieved by the proposed controllers.     

Role of base plate rotational speed in controlling spheroid size distribution and minimizing oversize particle formation during spheroid production by rotary processing

The occurrence of material adhesion and formation of oversize particles in the product yield during one-pot spheroid production by rotary processing leads to a less predictable process and a decrease in the usable portion of the total product yield obtained from each production run. The use of variable speeds of the rotating frictional base plate during the spheronization run was investigated for achieving optimal spheroid production. When the base plate speed was increased during liquid addition, the greater centrifugal forces generated improved liquid distribution and the mixing of the moist powder mass, resulting in a decrease in the amount of oversize particles formed. When the base plate was maintained at a high speed throughout the run, the amount of oversize particles and mean spheroid size increased, and a greater “between batch” mean spheroid size variability was also observed. The findings showed that, when higher speeds were used, the residence time must be adjusted accordingly to avoid excessive coalescence and growth while maintaining even liquid distribution. A “low-high-low” speed variation during rotary processing may be used to produce spheroids with a narrow size distribution and with a minimal amount of oversize particles in the total product yield.     

Metal–support interactions on rhodium model catalysts

Metal–support interactions on supported rhodium catalysts were studied by using specially prepared Rh/TiO₂/Mo model systems. For their characterization and the analysis of modifications due to various heat treatments several surface analytical methods were applied: low-energy ion scattering, X-ray photoemission spectroscopy and thermal desorption spectroscopy. Heating in ultrahigh vacuum to 670 K leads to Rh agglomeration followed (above 720 K) by encapsulation including the formation of reduced titanium oxide species. These morphological and chemisorption changes are reversible upon reoxidation and low-temperature reduction and thus exhibit the characteristic features of strong metal–support interactions. For the effective mechanism a reaction is suggested that involves oxygen chemisorption on the Rh clusters and partial reduction of the surrounding support oxide.     

A Gesture Based Interface for Human-Robot Interaction

Service robotics is currently a highly active research area in robotics, with enormous societal potential. Since service robots directly interact with people, finding natural and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are equipped with flexible user interfaces that permit controlling the robot by natural means. This paper describes a gesture interface for the control of a mobile robot equipped with a manipulator. The interface uses a camera to track a person and recognize gestures involving arm motion. A fast, adaptive tracking algorithm enables the robot to track and follow a person reliably through office environments with changing lighting conditions. Two alternative methods for gesture recognition are compared: a template based approach and a neural network approach. Both are combined with the Viterbi algorithm for the recognition of gestures defined through arm motion (in addition to static arm poses). Results are reported in the context of an interactive clean-up task, where a person guides the robot to specific locations that need to be cleaned and instructs the robot to pick up trash.     

非机动车因素对交叉口机动车运行的影响

研究了非机动车因素即自行车与行人因素对城市道路灯控平面交叉与立体交叉处机动车流运行的影响,通过现场调查数据,定义并计算出定量影响系数,将这些系数作为修正系数用于交叉口机动车通行能力计算公式中,以对混合交通条件下城市道路交叉口机动车通行能力理论进行修正与完善。     

电力变压器故障诊断的神经网络方法

提出并研究了电力变压器故障诊断的人工神经网络方法。根据变压器故障 诊断问题的特点，采用神经网络分块技术，将网络的输入、输出分别与故障症 状和故障类型相对应，建立了故障诊断的神经网络模型，并对故障实例进行了 测试验证。计算结果证明了这种方法的有效性和潜在的应用价值。     

三相潮流计算的快速解耦——补偿法

本文通过对不对称输电线路三序间弱耦合的补偿,导出了这种输电线路的三序混合解耦模型,然后将其分别与牛顿——拉夫逊法、P-Q分解法结合,提出了求解不对称三相潮流的牛顿——拉夫逊型和P-Q分解型解耦——补偿法,并着重分析了后者的收敛特性和计算速度。由于这类方法不仅有较快的计算速度和良好的收敛特性,还十分适合于运用并行计算技术,它们可望用于三相大电力系统的分析。     

不对称三相潮流的对称分量分析法

本文提出了在对称分量坐标中不对称三相潮流的两种求解方法——隐式阻抗矩阵法和解耦—补偿法。这两种方法都能充分利用对称分量坐标中对称元件,诸如发电机、变压器等的解耦特性,提高三相潮流的解算速度。解耦—补偿法则进一步利用不对称输电线路三序之间的弱耦合特性,通过对三序间弱耦合的补偿,实现三序之间的解耦求解,该法还适合于并行计算。算例表明,本文提出的方法具有较快的计算速度和良好的收敛特性。