Data-Driven Texture Rendering on an Electrostatic Tactile Display

In this article, we present a data-driven texture rendering method applied to a tactile display based on electrostatic attraction. The proposed method was examined in two steps. First, accelerations occurring due to sliding a tool on three different surfaces were measured, and then the collected data were replayed on an electrostatic tactile display. The proposed data-driven texture rendering method was evaluated against a conventional method in which a standard input such as a square wave was used for texture representation. Second, data from the Penn Haptic Texture Toolkit were used to generate virtual textures on the same tactile display. Psychophysical experiments were carried out for both steps, during which subjects rated similarities among the rendered virtual textures and the real samples. Confusion matrices were created, and multidimensional scaling (MDS) analysis was performed to create a perceptual space for further examination and to extract underlying dimensions of the textures. The results show that the virtual textures generated using the data-driven method were similar to the real textures. Roughness and stickiness were the primary dimensions of texture perception. Together with the supporting results from the MDS analysis, this study showed that the data-driven method is a viable solution for realistic texture rendering with electrostatic attraction.     

Query by image and video content: a colored-based stochastic model approach

For efficient image retrieval, the image database should be processed to extract a representing feature vector for each member image in the database. A reliable and robust statistical image indexing technique based on a stochastic model of an image color content has been developed. Based on the developed stochastic model, a compact 12-dimensional feature vector was defined to tag images in the database system. The entries of the defined feature vector are the mean, variance, and skewness of the image color histogram distributions as well as correlation factors between color components of the RGB color space. It was shown using statistical analysis that the feature vector provides sufficient knowledge about the histogram distribution. The reliability and robustness of the proposed technique against common intensity artifacts and noise was validated through several experiments conducted for that purpose. The proposed technique outperforms traditional and other histogram based techniques in terms of feature vector size and properties, as well as performance.     

Threshold Extraction Framework for Software Metrics

Software metrics are used to measure different attributes of software. To practically measure software attributes using these metrics, metric thresholds are needed. Many researchers attempted to identify these thresholds based on personal experiences. However, the resulted experience-based thresholds cannot be generalized due to the variability in personal experiences and the subjectivity of opinions. The goal of this paper is to propose an automated clustering framework based on the expectation maximization (EM) algorithm where clusters are generated using a simplified 3-metric set (LOC, LCOM, and CBO). Given these clusters, different threshold levels for software metrics are systematically determined such that each threshold reflects a specific level of software quality. The proposed framework comprises two major steps:the clustering step where the software quality historical dataset is decomposed into a fixed set of clusters using the EM algorithm, and the threshold extraction step where thresholds, specific to each software metric in the resulting clusters, are estimated using statistical measures such as the mean (μ) and the standard deviation (σ) of each software metric in each cluster. The paper's findings highlight the capability of EM-based clustering, using a minimum metric set, to group software quality datasets according to different quality levels.     

Software component identification and selection: A research review

Nowadays, with the development of software reuse, software developers are paying more attention to component-related technologies, which have been mostly applied in the development of large-scale complex applications to enhance the productivity of software development and accelerate time to market. Component-based software development is well acknowledged as a methodology, which establishes the reusability of software and reduces the development cost effectively. Two crucial problems in component-based software development are component identification and component selection. The main purpose of this paper is to provide a reference point for future research by categorizing and classifying different component identification and component selection methods and emphasizing their respective strengths and weaknesses. We hope that it can help researchers find the current status of this issue and serve as a basis for future activities.     

Swing angle estimation for anti-sway overhead crane control using load cell

Overhead crane movement results in suspended load sway, which may cause dangers and damages. Common anti-sway methods are based on swing angle information. This paper presents a novel method that uses load cell sensors for swing angle estimation. According to our proposed method, a damping signal is generated and added to the speed reference in order to suppress the suspended load sway. Conventional methods of swing angle estimation are based on measurement by camera vision, acceleration, or some other type of sensor. Compared to conventional methods, the proposed method based on load cell is simpler to build and less sensitive to ambient conditions. The effectiveness of the method is verified by computer simulation.     

Optimization of dynamic response using a monolithic-time formulation

The design of systems for dynamic response may involve constraints that need to be satisfied over an entire time interval or objective functions evaluated over the interval. Efficiently performing the constrained optimization is challenging, since the typical response is implicitly linked to the design variables through a numerical integration of the governing differential equations. Evaluating constraints is costly, as is the determination of sensitivities to variations in the design variables. In this paper, we investigate the application of a temporal spectral element method to the optimization of transient and time-periodic responses of fundamental engineering systems. Through the spectral discretization, the response is computed globally, thereby enabling a more explicit connection between the response and design variables and facilitating the efficient computation of response sensitivities. Furthermore, the response is captured in a higher order manner to increase analysis accuracy. Two applications of the coupling of dynamic response optimization with the temporal spectral element method are demonstrated. The first application, a one-degree-of-freedom, linear, impact absorber, is selected from the auto industry, and tests the ability of the method to treat transient constraints over a large-time interval. The second application, a related mass-spring-damper system, shows how the method can be used to obtain work and amplitude optimal time-periodic control force subject to constraints over a periodic time interval. This research was performed while the first author held a National Research Council Research Associateship Award at the Air Force Research Laboratory. An early version of this paper was presented at the 46th AIAA Aerospace Sciences Meeting and Exhibit, Jan 7–10, 2008, Reno, Nevada.     

A general computational recognition primed decision model with multi-agent rescue simulation benchmark

Analytical decision making strategies rely on weighing pros and cons of multiple options in an unbounded rationality manner. Contrary to these strategies, recognition primed decision (RPD) model which is a primary naturalistic decision making (NDM) approach assumes that experienced and professional decision makers when encounter problems in real operating conditions are able to use their previous experiences and trainings in order to diagnose the problem, recall the appropriate solution, evaluate it mentally, and implement it to handle the problem in a satisficing manner. In this paper, a computational form of RPD, now called C-RPD, is presented. Unified Modeling Language was used as a modeling language to represent the proposed C-RPD model in order to make the implementation easy and obvious. To execute the model, RoboCup Rescue agent simulation environment, which is one of the best and the most famous complex and multi-agent large-scale environments, was selected. The environment simulates the incidence of fire and earthquakes in urban areas where it is the duty of the police forces, firefighters and ambulance teams to control the crisis. Firefighters of SOS team are first modeled and implemented by utilizing C-RPD and then the system is trained using an expert’s experience. There are two evaluations. To find out the convergence of different versions developed during experience adding, some of the developed versions are chosen and evaluated on seven maps. Results show performance improvements. The SOS team ranked first in an official world championship and three official open tournaments.