Adaptive control of straight worms without derivative measurement

In this paper we consider an adaptive control problem of finite DoF worm-like locomotion systems (WLLS) which contact the ground with Coulomb dry friction. Using a rough mathematical friction law the system is shown to belong to a system class that allows adaptive control. Gaits from the kinematic theory can be tracked by means of adaptive controllers. For this we introduce two different adaptive controllers for λ-tracking and focus on that one which is not based on the derivative of the output. We pay attention to the analysis of such systems and present some theoretical control investigations including proofs. Numerical simulations of tracking different reference signals under arbitrary choice of the system parameters demonstrate and illustrate that the introduced simple adaptive controllers work successfully and effectively. Current experiments are aimed at the justification of theoretical results.     

Rule cubes for causal investigations

With the complexity of modern vehicles tremendously increasing, quality engineers play a key role within today’s automotive industry. Field data analysis supports corrective actions in development, production and after sales support. We decompose the requirements and show that association rules, being a popular approach to generating explanative models, still exhibit shortcomings. Interactive rule cubes, which have been proposed recently, are a promising alternative. We extend this work by introducing a way of intuitively visualizing and meaningfully ranking them. Moreover, we present methods to interactively factorize a problem and validate hypotheses by ranking patterns based on expectations, and by browsing a cube-based network of related influences. All this is currently in use as an interactive tool for warranty data analysis in the automotive industry. A real-world case study shows how engineers successfully use it in identifying root causes of quality issues.

Estimating body shape of dressed humans

The paper presents a method to estimate the detailed 3D body shape of a person even if heavy or loose clothing is worn. The approach is based on a space of human shapes, learned from a large database of registered body scans. Together with this database we use as input a 3D scan or model of the person wearing clothes and apply a fitting method, based on ICP (iterated closest point) registration and Laplacian mesh deformation. The statistical model of human body shapes enforces that the model stays within the space of human shapes. The method therefore allows us to compute the most likely shape and pose of the subject, even if it is heavily occluded or body parts are not visible. Several experiments demonstrate the applicability and accuracy of our approach to recover occluded or missing body parts from 3D laser scans.     

TextonBoost for Image Understanding: Multi-Class Object Recognition and Segmentation by Jointly Modeling Texture,Layout, and Context

This paper details a new approach for learning a discriminative model of object classes, incorporating texture, layout, and context information efficiently. The learned model is used for automatic visual understanding and semantic segmentation of photographs. Our discriminative model exploits texture-layout filters, novel features based on textons, which jointly model patterns of texture and their spatial layout. Unary classification and feature selection is achieved using shared boosting to give an efficient classifier which can be applied to a large number of classes. Accurate image segmentation is achieved by incorporating the unary classifier in a conditional random field, which (i) captures the spatial interactions between class labels of neighboring pixels, and (ii) improves the segmentation of specific object instances. Efficient training of the model on large datasets is achieved by exploiting both random feature selection and piecewise training methods. High classification and segmentation accuracy is demonstrated on four varied databases: (i) the MSRC 21-class database containing photographs of real objects viewed under general lighting conditions, poses and viewpoints, (ii) the 7-class Corel subset and (iii) the 7-class Sowerby database used in He et al. (Proceeding of IEEE Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 695–702, June 2004), and (iv) a set of video sequences of television shows. The proposed algorithm gives competitive and visually pleasing results for objects that are highly textured (grass, trees, etc.), highly structured (cars, faces, bicycles, airplanes, etc.), and even articulated (body, cow, etc.). J. Shotton is now working at Toshiba Corporate Research & Development Center, Kawasaki, Japan.     

Guaranteeing hard real-time traffic with legitimately short deadlines with the timed token protocol

Synchronous bandwidth, defined as the maximum time a node is allowed to send its synchronous messages while holding the token, is a sensitive parameter for deadline guarantees of synchronous messages in any timed token network. In order to offer such guarantees, synchronous bandwidth has to be allocated carefully to each individual node. This paper studies the synchronous bandwidth allocated to those synchronous message streams whose deadlines are less than twice the Target Token Rotation Time (TTRT). A new approach for allocating synchronous bandwidth to such streams, which can be used with any previously published local synchronous bandwidth allocation (SBA) for guaranteeing a general synchronous message set with its minimum deadline (D_min) no less than 2 · TTRT, is proposed. The proposed scheme can be applied efficiently in practice to any general synchronous message set with D_min > TTRT. Numerical examples are presented to demonstrate the enhanced performance of this new local scheme over any of the previously published local SBA schemes.     

A priori and a posteriori analysis for a locking-free low order quadrilateral hybrid finite element for Reissner–Mindlin plates

This paper proposes a quadrilateral finite element method of the lowest order for Reissner–Mindlin (R–M) plates on the basis of Hellinger–Reissner variational principle, which includes variables of displacements, shear stresses and bending moments. This method uses continuous piecewise isoparametric bilinear interpolation for the approximation of transverse displacement and rotation. The piecewise-independent shear stress/bending moment approximation is constructed by following a self-equilibrium criterion and a shear-stress-enhanced condition. A priori and reliable a posteriori error estimates are derived and shown to be uniform with respect to the plate thickness t. Numerical experiments confirm the theoretical results.     

Probabilistic fusion of stereo with color and contrast for bilayer segmentation

This paper describes models and algorithms for the real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from color/contrast or from stereo alone is known to be error-prone. Here, color, contrast, and stereo matching information are fused to infer layers accurately and efficiently. The first algorithm, layered dynamic programming (LDP), solves stereo in an extended six-state space that represents both foreground/background layers and occluded regions. The stereo-match likelihood is then fused with a contrast-sensitive color model that is learned on-the-fly and stereo disparities are obtained by dynamic programming. The second algorithm, layered graph cut (LGC), does not directly solve stereo. Instead, the stereo match likelihood is marginalized over disparities to evaluate foreground and background hypotheses and then fused with a contrast-sensitive color model like the one used in LDP. Segmentation is solved efficiently by ternary graph cut. Both algorithms are evaluated with respect to ground truth data and found to have similar performance, substantially better than either stereo or color/contrast alone. However, their characteristics with respect to computational efficiency are rather different. The algorithms are demonstrated in the application of background substitution and shown to give good quality composite video output.     

Runtime analysis of the (mu+1) EA on simple Pseudo-Boolean functions

Although Evolutionary Algorithms (EAs) have been successfully applied to optimization in discrete search spaces, theoretical developments remain weak, in particular for population-based EAs. This paper presents a first rigorous analysis of the (mu+1) EA on pseudo-Boolean functions. Using three well-known example functions from the analysis of the (1+1) EA, we derive bounds on the expected runtime and success probability. For two of these functions, upper and lower bounds on the expected runtime are tight, and on all three functions, the (mu+1) EA is never more efficient than the (1+1) EA. Moreover, all lower bounds grow with mu. On a more complicated function, however, a small increase of mu probably decreases the expected runtime drastically.This paper develops a new proof technique that bounds the runtime of the (mu+1) EA. It investigates the stochastic process for creating family trees of individuals; the depth of these trees is bounded. Thereby, the progress of the population towards the optimum is captured. This new technique is general enough to be applied to other population-based EAs.     

Semi‐Solid Processing of Metal Alloys

Semi‐solid metal casting is an innovative technology for the production of near‐net‐shape parts with demanding mechanical properties. The paper describes different processing routes and materials for semi‐solid‐metal casting (SSM), which have been investigated and also partially developed at the Foundry‐Institute of Aachen University. The standard thixocasting process for aluminium, highly reactive magnesium alloys and steel alloys with high melting points was investigated under variation of a wide range of process parameters. Specially adapted pre‐material production and reheating methods were developed for different materials and their application and future potential is pointed out. The thixocasting experiments were executed on a modified high pressure die‐casting machine with a specially designed “step‐die” providing wall thicknesses from 0.5 to 25 mm. The mechanical properties were tested in dependence of the wall thickness and the metal velocity. The results of these examination show high tensile strength values in combination with very good elongations. The rheocasting process is a new SSM‐forming method with liquid melt as feed‐stock and a high recycling potential. The research results of RCP‐technology (Rheo‐Container‐Process) invented at the Foundry‐Institute and of the Cooling‐Channel‐Process for aluminium and magnesium alloys are promising and are presented in this paper. Studies on semi‐solid processing of magnesium alloys and mixtures of them were conducted by Thixomolding^TM. To establish the most adequate process parameters, the temperature and the mixture relations were varied. Using a mould for tensile test specimens, the mechanical properties and the microstructure evolution could be evaluated. The chemical composition of the different phases was determined using SEM and EDX technologies. Evaluations of the flowing properties were conducted using a spiral mould with a total length of 2m and a cross section of 20mm x 1.5mm.