Lessons learned from programmers' experiences with one‐way constraints

One‐way constraints have been incorporated in many graphical user interface toolkits because they are simple to learn, easy to write, and can express many types of useful graphical relationships. This paper is an evaluative paper that examines users' experience with one‐way constraints in two user interface development toolkits, Garnet and Amulet, over a 15‐year time span. The lessons gained from this examination can help guide the design of future constraint systems. The most important lessons are that (1) constraints should be allowed to contain arbitrary code that is written in the underlying toolkit language and does not require any annotations, such as parameter declarations, (2) constraints are difficult to debug and better debugging tools are needed, and (3) programmers will readily use one‐way constraints to specify the graphical layout of an application, but must be carefully and time‐consumingly trained to use them for other purposes. Copyright © 2005 John Wiley & Sons, Ltd.     

Flying over the reality gap: From simulated to real indoor airships

Because of their ability to naturally float in the air, indoor airships (often called blimps) constitute an appealing platform for research in aerial robotics. However, when confronted to long lasting experiments such as those involving learning or evolutionary techniques, blimps present the disadvantage that they cannot be linked to external power sources and tend to have little mechanical resistance due to their low weight budget. One solution to this problem is to use a realistic flight simulator, which can also significantly reduce experimental duration by running faster than real time. This requires an efficient physical dynamic modelling and parameter identification procedure, which are complicated to develop and usually rely on costly facilities such as wind tunnels. In this paper, we present a simple and efficient physics-based dynamic modelling of indoor airships including a pragmatic methodology for parameter identification without the need for complex or costly test facilities. Our approach is tested with an existing blimp in a vision-based navigation task. Neuronal controllers are evolved in simulation to map visual input into motor commands in order to steer the flying robot forward as fast as possible while avoiding collisions. After evolution, the best individuals are successfully transferred to the physical blimp, which experimentally demonstrates the efficiency of the proposed approach. Jean-Christophe Zufferey and Alexis Guanella contributed equally to this work.     

Steerable miniature jumping robot

Jumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps in a given direction, it is important to be able to upright after landing, steer and jump again. In this article, we review and evaluate the uprighting and steering principles of existing jumping robots and present a novel spherical robot with a mass of 14 g and a size of 18 cm that can jump up to 62 cm at a take-off angle of 75°, recover passively after landing, orient itself, and jump again. We describe its design details and fabrication methods, characterize its jumping performance, and demonstrate the remote controlled prototype repetitively moving over an obstacle course where it has to climb stairs and go through a window. (See videos 1–4 in the electronic supplementary material.)     

Hybrid automata, reachability, and Systems Biology

Hybrid automata are a powerful formalism for the representation of systems evolving according to both discrete and continuous laws. Unfortunately, undecidability soon emerges when one tries to automatically verify hybrid automata properties. An important verification problem is the reachability one that demands to decide whether a set of points is reachable from a starting region.If we focus on semi-algebraic hybrid automata the reachability problem is semi-decidable. However, high computational costs have to be afforded to solve it. We analyse this problem by exploiting some existing tools and we show that even simple examples cannot be efficiently solved. It is necessary to introduce approximations to reduce the number of variables, since this is the main source of runtime requirements. We propose some standard approximation methods based on Taylor polynomials and ad hoc strategies. We implement our methods within the software SAHA-Tool and we show their effectiveness on two biological examples: the Repressilator and the Delta-Notch protein signaling.     

Modeling heavy metal mass releases from urban battery litter

Consumer batteries littered on urban pavements release metals of environmental significance (Ag, Cd, Cr, Cu, Hg, Li, Mn, Ni, Pd, Ti, Zn) to stormwater runoff. Predicting the mass loading of any one metal is difficult because of the random composition of battery litter. However, when littering is modeled as a conditional filtered Poisson process, bounds may be estimated for the mean and variance of site mass loading for any metal if the site litter rate and battery product contributions are known. Site-specific data on the battery brand distribution in litter can improve load estimates, but statistics computed from 5500 littered batteries collected in the Cleveland area may be used to approximate the brand distribution. Zinc load calculations based on battery litter size, type and brand discretizations are implemented in a model titled BLML and illustrated for a case-study location. Results indicate that, at some urban sites, zinc released from battery litter can be the largest source of zinc in urban pavement runoff.     

Optimal controller for uncertain stochastic polynomial systems with deterministic disturbances

This article presents the optimal quadratic-Gaussian controller for uncertain stochastic polynomial systems with unknown coefficients and matched deterministic disturbances over linear observations and a quadratic criterion. The optimal closed-form controller equations are obtained through the separation principle, whose applicability to the considered problem is substantiated. As intermediate results, this article gives closed-form solutions of the optimal regulator, controller and identifier problems for stochastic polynomial systems with linear control input and a quadratic criterion. The original problem for uncertain stochastic polynomial systems with matched deterministic disturbances is solved using the integral sliding mode algorithm. Performance of the obtained optimal controller is verified in the illustrative example against the conventional quadratic-Gaussian controller that is optimal for stochastic polynomial systems with known parameters and without deterministic disturbances. Simulation graphs demonstrating overall performance and computational accuracy of the designed optimal controller are included.     

Modeling individual’s aging within a bacterial population using a pi-calculus paradigm

We propose an aging mechanism which develops in artificial bacterial populations fighting against antibiotic molecules. The mechanism is based on very elementary information gathered by each individual and elementary reactions as well. Though we do not interpret the aging process in strictly biological terms, it appears compliant with recent studies on the field, and physically feasible. The root of the aging mechanism is an adaptation strategy based on a thresholding operation that derives from theoretical results on stochastic monotone games. The methods for implementing it denote their rationale in that they represent a sophisticated dialect of pi-calculus, a widespread computational paradigm for implementing dynamics of massive populations with bipolar reactions. As a result we may implement processes that explain some typical patterns of the evolution of the immunosystems.     

PHON: A program to calculate phonons using the small displacement method

The program phon calculates force constant matrices and phonon frequencies in crystals. From the frequencies it also calculates various thermodynamic quantities, like the Helmholtz free energy, the entropy, the specific heat and the internal energy of the harmonic crystal. The procedure is based on the small displacement method, and can be used in combination with any program capable to calculate forces on the atoms of the crystal. In order to examine the usability of the method, I present here two examples: metallic Al and insulating MgO. The phonons of these two materials are calculated using density functional theory. The small displacement method results are compared with those obtained using the linear response method. In the case of Al the method provides accurate phonon frequencies everywhere in the Brillouin Zone (BZ). In the case of MgO the longitudinal branch of the optical phonons near the centre of the BZ is incorrectly described as degenerate with the two transverse branches, because the non-analytical part of the dynamical matrix is ignored here; however, thermodynamic properties like the Helmholtz free are essentially unaffected.

Program summary

Program title: PHONCatalogue identifier: AEDP_v1_0Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEDP_v1_0.htmlProgram obtainable from: CPC Program Library, Queen's University, Belfast, N. IrelandLicensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.htmlNo. of lines in distributed program, including test data, etc.: 19 580No. of bytes in distributed program, including test data, etc.: 612 193Distribution format: tar.gzProgramming language: Fortran 90Computer: Any Unix, LinuxOperating system: UnixRAM: Depends on super-cell size, but usually negligibleClassification: 7.8External routines: Subprograms ZHEEV and DSYEV (Lapack); needs BLAS. A tutorial is provided with the distribution which requires the installation of the quantum-espresso package (http://www.quantum-espresso.org)Nature of problem: Stable crystals at low temperature can be well described by expanding the potential energy around the atomic equilibrium positions. The movements of the atoms around their equilibrium positions can then be described using harmonic theory, and is characterised by global vibrations called phonons, which can be identified by vectors in the Brillouin zone of the crystal, and there are 3 phonon branches for each atom in the primitive cell. The problem is to calculate the frequencies of these phonons for any arbitrary choice of q-vector in the Brillouin zone.Solution method: The small displacement method: each atom in the primitive cell is displaced by a small amount, and the forces induced on all the other atoms in the crystal are calculated and used to construct the force constant matrix. Supercells of ∼100 atoms are usually large enough to describe the force constant matrix up to the range where its elements have fallen to negligibly small values. The force constant matrix is then used to compute the dynamical matrix at any chosen q-vector in the Brillouin zone, and the diagonalisation of the dynamical matrix provides the squares of the phonon frequencies. The PHON code needs external programs to calculate these forces, and it can be used with any program capable of calculating forces in crystals. The most useful applications are obtained with codes based on density functional theory, but there is no restriction on what can be used.Running time: Negligible, typically a few seconds (or at most a few minutes) on a PC. It can take longer if very dense meshes of q-points are needed, for example, to compute very accurate phonon density of states.     

Sensing device for measuring infants’ grasping actions

The study and measurement of grasping actions and forces in humans is important in a variety of contexts. In infants, it can give insights on the neuro-motor development and on pathological dysfunctions, while it poses functional and operative requirements that are not fully matched by current sensing technology. Novel approaches for measuring infants’ grasping actions are based on sensorized toys usable in natural settings. In this paper, we present a sensing device for measuring grasping force in 4–9-month-old infants. Starting from technical and clinical specifications, we designed and developed a novel device made by silicone, shaped as a ring toy and equipped with a pressure sensor, able to measure the pressure exerted by the infant's hand in the range of 0–5 psi. A mechanical model of the material has been developed and tensile compression tests have been executed in order to assess the mechanical and electrical characteristics of the sensing device. The proposed device complies with the (technical and clinical) specifications and results suitable for measuring the grasping forces of the targeted infants, and finally for monitoring infants’ motor development. The theoretical model developed and the methodology for designing and characterizing the sensing device allow for easy re-design and adaptation of the sensing device and consideration of a variety of possible applications.