Automatic 3D model reconstruction of cutting tools from a single camera

Collision detection by machining simulation requires the 3D models of rotating cutters. However, the 3D models of a cutter and holder are not always available. In this paper, a new method is proposed to design an automatic vision-based 3D modeling system, which is able to quickly reconstruct the 3D model of a cutter and holder when they are installed onto the spindle. Only a single camera is mounted on the machine tool to capture the image of the rotating cutter and holder. By viewing the rotating cutter and holder as an object of surface of revolution, the contour of the imaged cutter and holder can be used to reconstruct the 3D model as a stack of circular cross-sections. Then the complete generating function of the cutter and holder can be recovered from the cross-sections. Finally, the 3D model of the cutter is built by rotating the generating function around the spindle axis. The effectiveness and accuracy of the proposed method are verified by experiments on-machine using 12 kinds of cutters and holders, which can satisfy the requirement of collision detection.     

Improved nonlinear trajectory tracking using RBFNN for a robotic helicopter

This paper presents a backstepping control method using radial‐basis‐function neural network (RBFNN) for improving trajectory tracking performance of a robotic helicopter. Many well‐known nonlinear controllers for robotic helicopters have been constructed based on the approximate dynamic model in which the coupling effect is neglected; their qualitative behavior must be further analyzed to ensure that the unmodeled dynamics do not destroy the stability of the closed‐loop system. In order to improve the controller design process, the proposed controller is developed based on the complete dynamic model of robotic helicopters by using an RBFNN function approximation to the neglected dynamic uncertainties, and then proving that all the trajectory tracking error variables are globally ultimately bounded and converge to a neighborhood of the origin. The merits of the proposal controller are exemplified by four numerical simulations, showing that the proposed controller outperforms a well‐known controller in (J. Robust Nonlinear Control 2004; 14 (12):1035–1059). Copyright © 2009 John Wiley & Sons, Ltd.     

eSeeTrack--visualizing sequential fixation patterns

We introduce eSeeTrack, an eye-tracking visualization prototype that facilitates exploration and comparison of sequential gaze orderings in a static or a dynamic scene. It extends current eye-tracking data visualizations by extracting patterns of sequential gaze orderings, displaying these patterns in a way that does not depend on the number of fixations on a scene, and enabling users to compare patterns from two or more sets of eye-gaze data. Extracting such patterns was very difficult with previous visualization techniques. eSeeTrack combines a timeline and a tree-structured visual representation to embody three aspects of eye-tracking data that users are interested in: duration, frequency and orderings of fixations. We demonstrate the usefulness of eSeeTrack via two case studies on surgical simulation and retail store chain data. We found that eSeeTrack allows ordering of fixations to be rapidly queried, explored and compared. Furthermore, our tool provides an effective and efficient mechanism to determine pattern outliers. This approach can be effective for behavior analysis in a variety of domains that are described at the end of this paper.     

Low cost inductor current sensing for power converters using feedback compensation

One of the key components in the current mode control of power converters is the sensing of inductor current. Traditional low cost implementation is to add a sensing resistor in series with the inductor to sense the inductor current. This will reduce the overall efficiency of the power converter. An alternative is to apply a current transformer to the inductor to sense its current. This however will significantly increase the cost of power converters. One low cost implementation is to add a resistor–capacitor network in parallel with the inductor so that the inductor current can be derived from the capacitor voltage. The problem of this implementation is that the capacitor voltage is very sensitive to temperature variations. In this paper, a simple feedback loop is applied to the sensed capacitor voltage based on the steady state duty ratio of power converters such that the sensed inductor current will be independent of temperature variations. The sensing element with feedback compensation can be applied to inductors fitted to power converters such as buck converters and boost converters. Although experimental studies based on a buck converter were carried out to illustrate the correctness of the new sensing technique, the proposed technique is applicable to other converter topologies.     

Plans, Actions and Dialogues Using Linear Logic

We describe how Intuitionistic Linear Logic can be used to provide a unified logical account for agents to find and execute plans. This account supports the modelling of agent interaction, including dialogue; allows agents to be robust to unexpected events and failures; and supports significant reuse of agent specifications. The framework has been implemented and several case studies have been considered. Further applications include human–computer interfaces as well as agent interaction in the semantic web.     

Modeling Default Data Via an Interactive Hidden Markov Model

In this paper, we first introduce the use of an interactive hidden Markov model (IHMM) for modeling and analyzing default data in a sector. Under the IHMM, transitions of the hidden risk states of the sector depend on the observed number of bonds in the sector that default in the current time period. This incorporates the feedback effect of the number of defaults on the transitions of the hidden risk states. This feature seems to be more realistic and does not enjoy by the traditional HMMs. We then develop a “dynamic” version of the binomial expansion technique (BET) modulated by the IHMM for modeling the occurrence of defaults of bonds issued by firms in the same sector. Under the BET modulated by the IHMM, the number of bonds defaulting in each time period follows a Markov-modulated binomial distribution with the probability of defaulting of each bond depending on the states of the IHMM, which represent the hidden risk states of the sector. Efficient method will be presented for estimating the model parameters in the BET modulated by the IHMM. We shall compare the hidden risk state process extracted from the IHMM-modulated BET with that extracted from the BET modulated by HMM in order to illustrate the significance of the feedback effect using real data. We shall also present the estimation results for the BET modulated by the IHMM and compare them with those for the BET modulated by the HMM.     

Service bid comparisons by fuzzy ranking in open railway market timetabling

In an open railway access market, the Infrastructure Provider (IP), upon the receipts of service bids from the Train Service Providers (TSPs), assigns track access rights according to its own business objectives and the merits of the bids; and produces the train service timetable through negotiations. In practice, IP chooses to negotiate with the TSPs one by one in such a sequence that IP optimizes its objectives. The TSP bids are usually very complicated, containing a large number of parameters in different natures. It is a difficult task even for an expert to give a priority sequence for negotiations from the contents of the bids. This study proposes the application of fuzzy ranking method to compare and prioritize the TSP bids in order to produce a negotiation sequence. The results of this study allow investigations on the behaviors of the stakeholders in bid preparation and negotiation, as well as evaluation of service quality in the open railway market.     

A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Global asymptotic stabilization of underactuated surface vessels is generally achieved only by designing complicated controllers. This paper proposes a very simple control law that globally asymptotically stabilizes the position of underactuated surface vessel to a desired constant location and its velocities to zero. The proposed controller is independent of velocity signals and is robust to model parameters. It neither includes an observer nor an adaptive/sliding‐mode law. Controller development and stability analysis rely on a novel Lyapunov function and LaSalle's theorem. Furthermore, by extending the proposed control strategy, a saturated control law is also obtained ensuring the semiglobal asymptotic stability of position error system. Effectiveness of the proposed control schemes is demonstrated by simulation examples. Copyright © 2017 John Wiley & Sons, Ltd.     

Latent growth curve modeling for longitudinal ordinal responses with applications

In this paper, we consider the use of the latent growth curve model to analyze longitudinal ordinal categorical data that involve measurements at different time points. By operating on the assumption that the ordinal response variables at different time points are related to normally distributed underlying continuous variables, and by further modeling these underlying continuous variables for different time points with the latent growth curve model, we achieve a comprehensive and flexible model with straightforward interpretations and a variety of applications. We discuss the applications of the model in treatment comparisons and in the analysis of the covariate effects. Moreover, one prominent advantage of the model lies in its ability to address possible differences in the initial conditions for the subjects who take part in different treatments. Making use of this property, we also develop a new method to test the equivalence of two treatments that involve ordinal responses obtained at two different time points. A real data set is used to illustrate the applicability and practicality of the proposed approach.