Direct Method Based Control System for an Autonomous Quadrotor

This paper proposes a real time control algorithm for autonomous operation of a quadrotor unmanned air vehicle. The quadrotor is a small agile vehicle, which as well as being a excellent test bed for advanced control techniques could also be suitable for internal surveillance, search and rescue and remote inspection. The proposed control scheme incorporates two key aspects of autonomy; trajectory planning and trajectory following. Using the differentially-flat dynamics property of the system, the trajectory optimization is posed as a non-linear constrained optimization within the output space in the virtual domain, not explicitly related to the time domain. A suitable parameterization using a virtual argument as opposed to time is applied, which ensures initial and terminal constraint satisfaction. The speed profile is optimized independently, followed by the mapping to the time domain achieved using a speed factor. Trajectory following is achieved with a standard multi-variable control technique and a digital switch is used to re-optimize the reference trajectory in the event of infeasibility or mission change. The paper includes simulations using a full dynamic model of the quadrotor demonstrating the suitability of the proposed control scheme.     

Plans, Actions and Dialogues Using Linear Logic

We describe how Intuitionistic Linear Logic can be used to provide a unified logical account for agents to find and execute plans. This account supports the modelling of agent interaction, including dialogue; allows agents to be robust to unexpected events and failures; and supports significant reuse of agent specifications. The framework has been implemented and several case studies have been considered. Further applications include human–computer interfaces as well as agent interaction in the semantic web.     

Automatic generation of instructional hypermedia with APHID

This research investigates the use of patterns in designing adaptable, flexible hypermedia applications. While patterns are particularly applicable to software design, they can also be used to assist designers of other types of applications. We have developed a method (APHID) that guides a hypermedia creator through the analysis and design process. The method ensures that good design principles are followed, both for the hypermedia application and for the interface that presents the hypermedia application. Our method uses a concept map, constraints, and patterns (instructional and presentation) to support partial automation for creating hypermedia applications. We also present a prototype software system that uses the APHID method to create instructional hypermedia applications semi-automatically. The applications created using APHID are tailored to specific types of learners. We conclude with a claim that this approach is applicable not just to instructional hypermedia, but to the larger problem of generating adaptable interfaces.     

Reading in the dark: effects of age and contrast on reading speed and comprehension

OBJECTIVE: To explore the effects of contrast reduction on younger and older adults' reading behavior and to examine whether readers rely on word predictability to compensate for poor contrast. BACKGROUND: Poor contrast can degrade text and may influence reading behavior. Readers may compensate for visual degradation of text by taking advantage of word predictability. METHOD: In Experiment 1, 5 younger and 5 older adults read sentences presented with 10 levels of contrast. In Experiment 2, 40 younger and 40 older adults read high-, medium-, and low-contrast sentences that varied in target word predictability (high vs. low). RESULTS: Relative to those of younger adults, older adults' reading rates were more slowed by low contrast; comprehension was less influenced by contrast (i.e., not significantly). Older adults read high-predictability words faster and comprehended them better than low-predictability words, significantly so for high- and medium-contrast sentences. Younger adults comprehended high-predictability words significantly better than low-predictability words for high- and low-contrast sentences. CONCLUSION: Low contrast was more detrimental for older adults. High-predictability words benefited older adults by significantly reducing their reading times and benefited all readers by significantly increasing their comprehension. APPLICATION: The current findings demonstrate the benefit of adequate contrast and word predictability for optimal text design to facilitate both reading times and reading comprehension.     

To make a sapphire cone and lens

A procedure is illustrated which allows a combined cone and lens to be ground from sapphire. The cross section of this element of revolution is shown.     

The impact of engagement with social networking sites (SNSs) on cognitive skills

The aim of the present study was to investigate the effect of social networking sites (SNSs) engagement on cognitive and social skills. We investigated the use of Facebook, Twitter, and YouTube in a group of young adults and tested their working memory, attentional skills, and reported levels of social connectedness. Results showed that certain activities in Facebook (such as checking friends’ status updates) and YouTube (telling a friend to watch a video) predicted working memory test performance. The findings also indicated that Active and Passive SNS users had qualitatively different profiles of attentional control. The Active SNS users were more accurate and had fewer misses of the target stimuli in the first block of trials. They also did not discriminate their attentional resources exclusively to the target stimuli and were less likely to ignore distractor stimuli. Their engagement with SNS appeared to be exploratory and they assigned similar weight to incoming streams of information. With respect to social connectedness, participants’ self-reports were significantly related to Facebook use, but not Twitter or YouTube use, possibly as the result of greater opportunity to share personal content in the former SNS.     

A criticism of the Flood-Grjotheim ionic treatment of slag-equilibria

The analysis by Flood and Grjotheim¹ of the equilibria between a metal and a fused slag utilizes the ionic behavior of the slag or salt, and it employs a reversible thermodynamic cycle. However, in the original analysis there appears to be an error in the use of free energy. A corrected treatment has been developed which involves a modest change and simplification in the original formulation. The revised analysis shows the importance of the thermodynamic behavior of ionic species in the slag, which may be nonideal. Data from the literature on slag-metal equilibria, for example: $$\left[ {Fe^{2 + } } \right] + \underline {Mn} = Fe\left( l \right) + \left[ {Mn^{2 + } } \right]$$ , are analyzed by the new formulation to obtain expressions for ratios of activity coefficients such as (γS^2?/γO^2?), (γMn²⁺/γFe²⁺) and [(γPO ₄ ^3? )²/(γO^2?)³] in terms of slag composition, the last two having been found to depend strongly on the oxygen-ion content of the slag.     

Inhibition of Return and Repetition Priming Effects in Localization and Discrimination Tasks.

Inhibition of return (IOR) refers to slower responding to a stimulus that is presented at the same, rather than a different location as a preceding, spatially nonpredictive, stimulus. Repetition priming refers to speeded responding to a stimulus that duplicates the visual characteristics of a stimulus that precedes it. IOR and repetition priming effects interact in nonspatial discrimination tasks but not in localization tasks; three experiments examined whether this is due to processing differences or due to response differences between tasks. Two stimuli, S1 and S2, occurred on each trial. In Experiment 1, S1 and S2 were both peripheral arrows; in Experiment 2, S1 was a central arrow and S2 was a peripheral nondirectional rectangle; in Experiment 3, S1 was a peripheral nondirectional rectangle and S2 was a peripheral arrow. S1 never required a response; S2 required a localization or a discrimination response. Despite evidence that form information was likely extracted from the arrow stimuli, the localization task revealed no repetition priming: IOR occurred regardless of shared visual identity of the S1 and S2 arrows. The discrimination task revealed IOR only when the visual identity changed from S1 to S2; otherwise, facilitation occurred. These results suggest that IOR is masked by repetition priming only when the response depends on the explicit processing of form information; repetition priming does not occur when such information is extracted automatically but is task (and response) irrelevant. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Software Process Improvement Problems in Twelve Software Companies: An Empirical Analysis

In this paper we discuss our study of the problems 12 software companies experienced in software development. In total we present qualitative data collected from 45 focus groups that involved over 200 software staff. We look at how different practitioner groups respond to software process improvement problems. We show our classification and analysis of this data using correspondence analysis. Correspondence analysis is a graphical data representation method new to software development research. The aim of the work we present is to develop a more holistic understanding of the problems practitioners are experiencing in their attempts to improve their software processes. Our main finding is that there is an association between a company's capability maturity and patterns of reported problems. Organizational problems are more associated with high maturity companies than with low maturity companies. Low maturity companies are closely linked to problems relating directly to projects such as documentation, timescales, tools and technology. Our findings also confirm differences in practitioner group problems. Senior managers cite problems with goals, culture and politics. Project managers are concerned with timescales, change management, budgets and estimates. Developers are experiencing problems with requirements, testing, documentation, communication, tools and technology. These associations are displayed graphically through correspondence analysis maps.