A game theory approach to constrained minimax state estimation

This paper presents a game theory approach to the constrained state estimation of linear discrete time dynamic systems. In the application of state estimators, there is often known model or signal information that is either ignored or dealt with heuristically. For example, constraints on the state values (which may be based on physical considerations) are often neglected because they do not easily fit into the structure of the state estimator. This paper develops a method for incorporating state equality constraints into a minimax state estimator. The algorithm is demonstrated on a simple vehicle tracking simulation.     

Effect of Anisotropy and Destructuration on the Behavior of Murro Test Embankment

This paper investigates the influence of anisotropy and destructuration on the behavior of a test embankment on soft clay. The test embankment at Murro, Finland, was commissioned in 1993 by the Finnish Road Administration and has been monitored for over 10?years. The construction and consolidation of Murro test embankment is analyzed with finite element method using three different constitutive models to represent the soft soil. The results are compared with field observations. The constitutive models used include two recently proposed constitutive models, namely S-CLAY1 that accounts for initial and plastic strain induced anisotropy and its extension, called S-CLAY1S. The S-CLAY1S model accounts, additionally, for interparticle bonding and degradation of bonds. For comparison, the test embankment is also analyzed using the isotropic Modified Cam Clay model. The simulations demonstrate that for this type of problem, it is important to account for the anisotropy, whereas destructuration appears to have less influence on predicted deformations. However, only a model incorporating destructuration can explain the decrease in undrained shear strength during consolidation that was measured in field.     

Introducing QoS awareness in distributed programming: QTcl

A number of distributed applications require communication services with quality of service (QoS) guarantees. Building global‐scale distributed systems with predictable properties is one of the great challenges for computer systems engineering in the new century. Work undertaken within the Internet Engineering Task Force has led to the definition of novel architectural models for the Internet with QoS support. According to these models, the network has to be appropriately configured in order to provide applications with the required performance guarantees. In next‐generation networks, enabling applications to interact with the underlying QoS services is of primary importance. Hence, several special‐purpose application programming interfaces (APIs) have been defined to let applications negotiate QoS parameters across QoS‐capable networks. However, so far, none of these APIs are available in different operating environments. We believe that such features should be embedded in programming environments for distributed applications. In this work we present how we included QoS control features in Tcl, a programming language that has been widely adopted for the development of distributed multimedia applications. Our work has led to the implementation of QTcl, an extended Tcl interpreter that provides programmers with a new set of primitives, in full compliance with the standard SCRAPI programming interface for the RSVP protocol. QTcl in highly portable, in that it enables standard QoS negotiation to be performed in a seamless fashion on the most common operating systems. Copyright © 2003 John Wiley & Sons, Ltd.     

Mexitl: Multimedia in Executable Interval Temporal Logic

This paper explores a formalism for describing a wide class of multimedia document constraints, based on an interval temporal logic. We describe the requirements that arise from the multimedia documents application area, and we illustrate these requirements using several examples. Then we present the temporal logic formalism that we use. This logic extends existing interval temporal logic with a number of new features: actions, framing of actions, past operators, a projection-like operator called filter and a new handling of interval length. The notation is applied to the specification of the examples, and in particular a set of logical manipulations, providing feedback to an author, is presented. A model theory, logic and satisfaction relation are defined for the notation.     

Data Communications for Internet Robots

For Internet robots, the most challenging and distinct difficulties are well recognized to be associated with Internet transmission delays, delay jitter and not-guaranteed bandwidth, which might degrade system performance dramatically or even lead to instability. Current approaches to data communication between the remote robot and the human operator employ directly one of the two currently available protocols, i.e. TCP and UPD. In this paper, a teleoperation-oriented data transmission mechanism is implemented. Compared to TCP, the presented scheme provides minimized transmission delays and delay jitter; in the steady state, its transmission rate is much smoother; when available network bandwidth changes, it adapts to the variation quickly without large overshoot. Compared to UDP, it is inter-protocol fairness convergent, intro-protocol convergent, and efficient convergent. The presented mechanism is deployed in a mobile robot teleoperation system developed. In the experiments, users successfully guided a Pioneer-2 mobile robot through a laboratory environment remotely over the Internet via a web browser.     

UNION: underwater intelligent operation and navigation

The main goal of the UNION ESPRIT Basic Research Action is to develop methods for increasing the autonomy and intelligence of underwater remotely operated vehicles (ROVs). The project focuses mainly on the development of coordinated control and sensing strategies for combined manipulator and vehicle systems. Both fundamental theories and methods for the design of these heterogeneous systems are investigated. A complex canonical mission in the field of offshore inspection maintenance and repair tasks was chosen as an integration guideline of all the results     

A neural network approach to complete coverage path planning.

Complete coverage path planning requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum robots, painter robots, land mine detectors, lawn mowers, automated harvesters, and window cleaners. In this paper, a novel neural network approach is proposed for complete coverage path planning with obstacle avoidance of cleaning robots in nonstationary environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location. The proposed model algorithm is computationally simple. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot paths.     

Combining interaction and context design to support collaborative argumentation using a tool for synchronous CMC

Abstract Empirical studies and theory suggest that educational dialogue can be used to support learners in the development of reasoning, critical thinking and argumentation. This paper presents an educational design for synchronous online peer discussion that guides student dialogue in ways that lead to improved argumentation and collaborative knowledge development. This design includes a mediating interface – or tool, linked to a broader set of online educational activities – a designed local context, where the latter aims to provide conditions that support argumentation. The approach is based on collaborative working and dialogue game approaches to discussion. Preliminary findings with UK Open University students showed the argumentation process was more coherent, varied, deeper and extended when using our interaction design compared with the use of a simple unstructured interface.     

Concordance in Attachment States of Mind and Styles With Respect to Fathers and Mothers.

It is believed that by adulthood, independent attachments to the mother and the father coalesce into a single state of mind with respect to attachment. If true, states of mind with respect to mothers and fathers should be concordant. Fifty-six young adults were administered two versions of the Adult Attachment Interview, each of which asked about their relationship with one parent. State of mind with respect to the father was significantly related to state of mind with respect to the mother, as were attachment styles regarding the two parents. Perceptions of attachment styles were not very related to corresponding states of mind but were related to inferred loving from a parent. (PsycINFO Database Record (c) 2010 APA, all rights reserved)