Global Atmospheric Profiles from Reanalysis Information (GAPRI): a new database for earth surface temperature retrieval

This paper presents the Global Atmospheric Profiles derived from Reanalysis Information (GAPRI) database, which was designed for earth surface temperature retrieval. GAPRI is a comprehensive compilation of selected atmospheric vertical profiles at global scale which can be used for radiative transfer simulation in order to obtain generalized algorithms to estimate land surface temperature (LST). GAPRI includes information on geopotential height, atmospheric pressure, air temperature, and relative humidity derived from the European Centre for Medium-Range Weather Forecasts Re-Analysis data from year 2011. The atmospheric profiles are structured for 29 vertical levels and extracted from a global spatial grid of about 0.75° × 0.75° latitude–longitude with a temporal resolution of 6 hours. The selection method is based in the extraction of clear sky profiles over different atmospheric weather conditions such as tropical, mid-latitude summer, subarctic, and arctic, while also considering sea and land areas and day- and night-time conditions. The GAPRI database was validated by comparing land and sea surface temperature values derived from it to those obtained using other existing atmospheric profile databases and in situ measurements. Moreover, GAPRI was also compared to previous radiosonde atmospheric profiles using simulated split-window algorithms. Results show good agreement between GAPRI and previous atmospheric databases, thus demonstrating the potential of GAPRI for studies related to forward simulations in the thermal infrared range. GAPRI is a freely available database that can be modified according to the user’s needs and local atmospheric conditions.     

Standard goal programming with fuzzy hierarchies: a sequential approach

This paper proposes a pragmatic model for multi-objective decision-making processes involving clusters of objectives which have a decisional meaning for the decision maker (DM). We provide the DMs with a comfortable tool that allows them to express their preferences both by comparing criteria of the same cluster and via the comparison between the different clusters. In standard goal programming the importance of the goals is modeled by the introduction of preferential weights or/and the incorporation of pre-emptive priorities. However, in many cases the DM is not able to establish a precise preference structure. Even in the case of precise weights the solution does not match necessarily the relative weights or, in the case of precise pre-emptive priority, the result could be very restrictive. In order to overcome these drawbacks, in this paper the normalized unwanted deviations are interpreted in terms of achievement degrees of the goals and fuzzy relations are used to model the relative importance of the goals. Thus, we show how several methodologies from the fuzzy goal programming literature can be tailored for solving standard GP problems. We apply this new modeling to problems where there is a “natural” clustering between goals of the same class. We address this situation by solving two phases; in the first one each class is handled separately taking into account the hierarchy of their goals and, in the second phase, we integrate the results of the first phase and the imprecise hierarchy of the different classes. We formulate a new goal programming model called as sequential goal programming with fuzzy hierarchy model. Because many real situations involve decision making in this environment, our proposal can be a useful tool of broad application. A numerical example illustrates the methodology.     

A robot learning from demonstration framework to perform force-based manipulation tasks

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.     

Variable Structure Control with Chattering Reduction of a Generalized T‐S Model

In this paper, a fuzzy logic controller (FLC) based variable structure control (VSC) is presented. The main objective is to obtain an improved performance of highly non‐linear unstable systems. New functions for chattering reduction and error convergence without sacrificing invariant properties are proposed. The main feature of the proposed method is that the switching function is added as an additional fuzzy variable and will be introduced in the premise part of the fuzzy rules; together with the state variables. In this work, a tuning of the well known weighting parameters approach is proposed to optimize local and global approximation and modelling capability of the Takagi‐Sugeno (T‐S) fuzzy model to improve the choice of the performance index and minimize it. The main problem encountered is that the T‐S identification method can not be applied when the membership functions are overlapped by pairs. This in turn restricts the application of the T‐S method because this type of membership function has been widely used in control applications. The approach developed here can be considered as a generalized version of the T‐S method. An inverted pendulum mounted on a cart is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of the proposed estimation approach in comparison with the original T‐S model. Simulation results indicate the potential, simplicity and generality of the estimation method and the robustness of the chattering reduction algorithm. In this paper, we prove that the proposed estimation algorithm converge the very fast, thereby making it very practical to use. The application of the proposed FLC‐VSC shows that both alleviation of chattering and robust performance are achieved.     

Variable Structure Control with chattering elimination and guaranteed stability for a generalized T-S model

In this paper, a fuzzy based Variable Structure Control (VSC) with guaranteed stability is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. The main contribution of this work is that, firstly, new functions for chattering reduction and error convergence without sacrificing invariant properties are proposed, which is considered the main drawback of the VSC control. Secondly, the global stability of the controlled system is guaranteed.The well known weighting parameters approach, is used in this paper to optimize local and global approximation and modeling capability of T-S fuzzy model.A one link robot is chosen as a nonlinear unstable system to evaluate the robustness, effectiveness and remarkable performance of optimization approach and the high accuracy obtained in approximating nonlinear systems in comparison with the original T-S model. Simulation results indicate the potential and generality of the algorithm. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved with the proposed FLC-VSC controller. The effectiveness of the proposed controller is proven infront of disturbances and noise effects.     

草地场景真实感模拟技术综述

草体作为自然场景的一种重要组成元素,其数量众多、覆盖范围广,因此很难实现实时绘制,大规模草地场景真实感模拟已成为计算机图形学中研究的热点和难点之一.文中对20多年来草地场景真实感模拟技术的发展情况进行综述,分别从绘制技术、LOD表达、动态模拟以及业界现状等几个方面做了比较深入的介绍,分析并比较了一些典型方法的基本原理和优缺点;最后对该领域未来的发展趋势进行了展望.     

Supporting the creative drive: investigating paralinguistic voice as a mode of interaction for artists with upper limb disabilities

For people with upper limb disabilities visual art is an important activity that allows for expression of individuality and independence. They show remarkable endurance, patience and determination to adapt their remaining capabilities to create visual art. There are significant advantages of digital technologies in assisting artists with upper limb disabilities. Paralinguistic voice recognition technologies have proven to be a particularly promising mode of interaction. Despite these benefits, technological support for people with upper limb disabilities to create visual art is scarce. This paper reports on a number of case studies of several artists with upper limb disabilities. These case studies illustrate the struggles they face to be creative and also show the significant advantages of digital technologies in assisting such artists. An investigation into people’s ability to use the volume of their voice to control cursor movement to create drawings on the screen is also reported. With motivation, training and practise, use of volume to control drawing tasks shows great promise. It is believed that paralinguistic voice has wider implications beyond assisting artists with upper limb disabilities, such as: an alternative mode of interaction for disabled people to perform tasks other than creating visual art, alternative mode of interaction for hands busy environments and as a voice training system for people with speech impairments.     

改善PLC的兼容性和功能灵活性

兼容性方面的问题可能使整个升级项目趋于停滞。威勒工程公司是一家原始设备制造商(OEM)。当他们在对无菌包装制造机械的驱动系统进行升级时,遇到了新系统与现有控制器之间无法兼容的问题,并因此限制了设备功能的充分发挥。这时,一种具有针对性的PLC整合工程解决方案不仅提供了威勒工程公司所需要的机器操作界面,而且显著提高了PLC应用上的灵活性。     

Analysis of the influence of binder properties on the mechanical response of bituminous mixtures

Asphalt mixtures are composed by a mass of aggregates (more than 90% of their total weight), which are bonded by a bituminous binder. Despite the fact that the binder is not the main component of these materials (around 5% of their total weight), it exerts a high influence on their mechanical response. In this sense, the service life of asphalt pavements will directly depend on the type of binder used, and thus an adequate choice is crucial to construct more durable roads. Because of this fact, it is necessary to know the characteristics of the bitumen in order to reduce the impact of different distresses that appear on roads. For this purpose, this paper studies the influence of the binder properties in the appearance of the main distresses that affect asphalt pavements around the world (stripping, fatigue cracking and plastic deformations). Five bitumens with different properties have been analysed during this research using diverse binder (UCL, multiple stress creep and recovery test and dynamic shear rheometer time sweep) and mixture (water sensitivity, wheel tracking and UGR-FACT) tests. The results obtained show that the properties of the binder influence the long-term performance of bituminous mixtures. In this sense, it can be said that flexible binders which are able to recover plastic deformations could extend the service life of the pavements.     

Normalized Interactions between autonomous agents

The CEC Project GOAL (Esprit 6283) aims to develop generic software tools to support a new project management paradigm, in which projects are collaborative, decentralised and inter-organizational. To support inter-organizational interaction, communication and cooperation, we are developing a design framework for formalizing the flow of information between organizations, specifying access to and provision of project services, and defining project-wide standards and procedures. This framework is based on normalizing interactions between autonomous software agents by specifying messages and protocols for inter-agent communication and cooperation. This paper reviews the framework, and then focusses on the specification and implementation of a case study, the automation of a distributed document review procedure. This is both a successful proof of concept and a demonstration of how Artificial Intelligence technologies can support inter-organizational project management. It also points the way to agent brokering, an enhancement of object brokering in distributed open systems, where the satisfaction of service requests can be subject to negotiation.Supported by CEC Esprit Project GOAL (Esprit 6283) and CEC Esprit BRA Medlar II (Esprit 6471).Supported by CEC Esprit Project GOAL (Esprit 6283).