A two-stage mobile robot localization method by overlapping segment-based maps

This paper presents a new method for accurately estimating the pose (position and orientation) of a mobile robot by registering a segment-based local map observed from the current robot pose and a global map. The method works in a two-stage procedure. First, the orientation is determined by aligning the local and global map through a voting process based on a generalized Hough transform. Second, it uses a coarse-to-fine approach for selecting candidate positions and a weighted voting scheme to determine the degree of overlap of the two maps at each of these poses. Unlike other methods previously proposed, this approach allows us to uncouple the problem of estimating the robot orientation and the robot position which may be useful for some applications. In addition it can manage environments described by many (possibly short) segments. This paper presents some experimental results based on our mobile robot RAM-2 that show the accuracy and the robustness of the proposed method even for poor quality maps and large dead-reckoning errors.     

Sputtered L10-FePd and its Synthetic Antiferromagnet on Si/SiO2 Wafers for Scalable Spintronics

As a promising alternative to the mainstream CoFeB/MgO system with interfacial perpendicular magnetic anisotropy (PMA), L1₀-FePd and its synthetic antiferromagnet (SAF) structure with large crystalline PMA can support spintronic devices with sufficient thermal stability at sub-5 nm sizes. However, the compatibility requirement of preparing L1₀-FePd thin films on Si/SiO₂ wafers is still unmet. In this paper, high-quality L1₀-FePd and its SAF on Si/SiO₂ wafers are prepared by coating the amorphous SiO₂ surface with an MgO(001) seed layer. The prepared L1₀-FePd single layer and SAF stack are highly (001)-textured, showing strong PMA, low damping, and sizeable interlayer exchange coupling, respectively. Systematic characterizations, including advanced X-ray diffraction measurement and atomic resolution-scanning transmission electron microscopy, are conducted to explain the outstanding performance of L1₀-FePd layers. A fully-epitaxial growth that starts from MgO seed layer, induces the (001) texture of L1₀-FePd, and extends through the SAF spacer is observed. This study makes the vision of scalable spintronics more practical.     

Recognizing shopper demographics from behavioral responses in a virtual reality store

Virtual Reality - The use of virtual reality (VR) technology in the context of retail is a significant trend in current consumer research, as it offers market researchers a unique opportunity to...     

Clarifying the semantics of value in use cases through Jackson's Problem Frames

Use cases constitute a popular technique to problem analysis, partly due to their focus on thinking in terms of the user needs. However this is not a guarantee for discovering all the subproblems that compose the structure of a given software problem. Moreover, a rigorous application of the technique requires a previous consensus about the meaning of I. Jacobson's statement “a use case must give a measurable value to a particular actor” (The Rational Edge, March 2003). This paper proposes a particular characterisation of the concept of “value” with the purpose of problem structuring. To this aim we base on the catalogue of frames for real software problems proposed by M. Jackson (Problem Frames, 2001) and we reason about what could be valuable for the user on each problem class. We illustrate our technique with the analysis of a web auction problem.     

Integrated multiobjective optimization and a priori preferences using genetic algorithms

One of the tasks of decision-making support systems is to develop methods that help the designer select a solution among a set of actions, e.g. by constructing a function expressing his/her preferences over a set of potential solutions. In this paper, a new method to solve multiobjective optimization (MOO) problems is developed in which the user’s information about his/her preferences is taken into account within the search process. Preference functions are built that reflect the decision-maker’s (DM) interests and use meaningful parameters for each objective. The preference functions convert these objective preferences into numbers. Next, a single objective is automatically built and no weight selection is performed. Problems found due to the multimodality nature of a generated single cost index are managed with Genetic Algorithms (GAs). Three examples are given to illustrate the effectiveness of the method.     

A polynomial rule for the problem of sharing delay costs in PERT networks

In this paper we define the weighted serial cost sharing rule for the cost allocation problem. We apply this new rule to the problem of sharing delay costs in a PERT network. This rule belongs to the Core and is the Weighted Shapley Value for a particular game. Furthermore, we present a characterization of this rule and a polynomial algorithm for its calculation.     

A software engineering approach for the development of heterogeneous robotic applications

One of the most evident characteristics of robotic applications is heterogeneity: large robotic projects involve many different researchers with very different programming needs and areas of research, using a variety of hardware and software that must be integrated efficiently (i.e.: with a low development cost) to construct applications that satisfy not only classic robotic requirements (fault-tolerance, real-time specifications, intensive access to hardware, etc.) but also software engineering aspects (reusability, maintainability, etc.). Most existing solutions to this problem either do not deal with such heterogeneity or do not cover specific robotic needs. In this paper we propose a framework for the integration of heterogeneous robotic software through a software engineering approach: the BABEL development system, which is aimed to cover the main phases of the application lifecycle (design, implementation, testing, and maintainance) when unavoidable heterogeneity conditions are present. The capabilities of our system are shown by its support for designing and implementing diverse real robotic applications that use several programming languages (C, C++, JAVA), execution platforms (RT-operating systems, MS-Windows, no operating system at all), communication middleware (CORBA, TCP/IP, USB), and also a variety of hardware components (Personal Computers, microcontrollers, and a wide diversity of sensor and actuator devices in mobile robots and manipulator arms).     

A Class of OFT Controllers for Torque-Saturated Robot Manipulators: Lyapunov Stability and Experimental Evaluation

The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presenting a class of OFT controllers for torque-constrained robots. The theory of singularly perturbed systems is crucial in the analysis of the closed-loop system trajectories. As a second contribution of this paper, we present a detailed experimental study of six control schemes, which were tested in a two degrees-of-freedom direct-drive robot, confirming the advantages of the proposed methodology.     

From human regulations to regulated software agents’ behavior

In order to design and implement electronic institutions that incorporate norms governing the behavior of the participants of those institutions, some crucial steps should be taken. The first problem is that human norms are (on purpose) specified on an abstract level. This ensures applicability of the norms over long periods of time in many different circumstances. However, for an electronic institution to function according to those norms, they should be concrete enough to be able to check them run time. A second problem is that norms describe which behavior is desirable and permitted, but not how this is achieved in an institution. In the “real world" regulations often indicate procedures for implementing and enforcing the law. Likewise we should devise means to annotate the norms with practical aspects such as enforcement mechanisms, sanctions, etc. in order to get requirements for an institution that will enforce norms (by either constraining behavior within the norms or reacting to violation of the norms). The choice of which kind of mechanism is chosen is not a normative one, but usually based on criteria of efficiency and/or feasibility of the mechanism. In this paper we present our view on how to approach these problems and other related issues to be solved in order to develop e-institutions capable to operate in complex, highly regulated scenarios.