Contact type dependency of texture classification in a whiskered mobile robot

Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object. On the other hand, finer discriminations appear to require knowledge of the target’s relative position and/or of the manner in which the whisker contact its surface. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

3D‐vision based detection,localization, and sizing of broccoli heads in the field

This paper describes a 3D vision system for robotic harvesting of broccoli using low‐cost RGB‐D sensors, which was developed and evaluated using sensory data collected under real‐world field conditions in both the UK and Spain. The presented method addresses the tasks of detecting mature broccoli heads in the field and providing their 3D locations relative to the vehicle. The paper evaluates different 3D features, machine learning, and temporal filtering methods for detection of broccoli heads. Our experiments show that a combination of Viewpoint Feature Histograms, Support Vector Machine classifier, and a temporal filter to track the detected heads results in a system that detects broccoli heads with high precision. We also show that the temporal filtering can be used to generate a 3D map of the broccoli head positions in the field. Additionally, we present methods for automatically estimating the size of the broccoli heads, to determine when a head is ready for harvest. All of the methods were evaluated using ground‐truth data from both the UK and Spain, which we also make available to the research community for subsequent algorithm development and result comparison. Cross‐validation of the system trained on the UK dataset on the Spanish dataset, and vice versa, indicated good generalization capabilities of the system, confirming the strong potential of low‐cost 3D imaging for commercial broccoli harvesting.     

Web conferencing for synchronous online tutorials: Perspectives of tutors using a new medium

This paper reports on a pilot investigation into web conferencing in a distance learning module. It focuses on the perceptions and experiences of the tutors, all of whom were new to the web conferencing environment, but were experienced in online teaching. A number of web conferencing tutorials were studied through the collection of various datasets, mostly qualitative. The data were analysed by a team of researchers, informed by key literature in this area.The main findings from the pilot indicated that tutors experienced challenges in creating social presence and in managing cognitive load when dealing with multiple tasks online. There were also technical obstacles to improvisation in response to students’ emerging needs. The findings of the pilot informed the training and support provided when web tutorials were subsequently rolled out to all tutorial groups (approximately 140) in the module. Overall, experiences from the web tutorials indicate that tutors and students reacted positively to the opportunities web conferencing provides for interactive learning and teaching.     

Granularity in reciprocity

Witnessing in merging biological, social and algorithmic realities is crucial to trust, as modelled in the YUTPA framework. Being witness and bearing witness is fundamental to human interaction. System participation in human communities of practice challenges the notion of witnessing and therefore the ability to build trust. Nevertheless, through trial and error, people in a variety of practices have found ways to establish the presence and develop trust in merging realities. This paper presents the results of 20 in-depth interviews with professionals from a variety of disciplines and nations. The conclusion of cumulative analysis is that systems do not witness themselves, but their output deeply affects the mental maps that human beings make of each other, the world around them and their own self. Essential qualities human beings seek when being involved with other beings are defined by granularity and reciprocity in the design of time (duration of engagement, synchronizing performance, integrating rhythms and moments to signify), place (body sense, material interaction, emotional space and situated agency), relation (shared meaning, engagement, reputation and use) and action (tuning, reciprocity, negotiation and quality of deeds). By designing granular interaction in 4 dimensions, reciprocity in witnessing obtains significance and the basis for establishing trust in a variety of presences emerges while human agency acquires potential.     

AH-64D main transmission accessory drive spur gear installation fault detections

The US Army has launched an aggressive program to implement condition based maintenance on its rotary wing assets. Condition Based Maintenance takes advantage of technology developments in the areas of machinery monitoring, signal processing and fault modeling to reduce the cost of ownership through improved maintenance procedures. Documenting the reduction in maintenance burden, cost savings and increased safety through early detection of helicopter faults is an important step in justifying the program. This paper describes a novel technique used to detect a serious fault in the accessory section of the AH-64D Apache main transmission. The technique determines if the primary or secondary clutch system is driving the aircraft accessories through a tachometer speed ratio. The method has identified three aircraft operating on the secondary system allowing Army maintenance crews to replace the affected transmissions and quickly restore the aircraft to operational status.     

Carbon dioxide—new uses for an old refrigerant

Carbon dioxide has been used as a refrigerant in vapour compression systems of many types for over 130 years, but it is only in the last decade that inventive minds and modern techniques have found new ways to exploit the uniquely beneficial properties of this remarkable substance. This paper traces the development of the old carbon dioxide systems, considers the technical, commercial and social reasons for their slow development and subsequent decline and examines the recent renaissance across a surprisingly broad range of applications, from trans-critical car air conditioners to low temperature industrial freezer plants. The paper then concentrates on industrial refrigeration systems, which were the basis of early developments in the period 1865–1885, but which have been somewhat overlooked in the current renaissance. The paper concludes with a review of possible future developments, indicating the areas of research and product development required to maximise the potential of the only non-toxic, non-flammable, non-ozone-depleting, non-global-warming refrigerant available for Rankine cycle vapour compression systems in the 21st century.     

A single chip multi-channel surface plasmon resonance imaging system

A single chip, multi-channel surface plasmon resonance (SPR) imaging system has been developed. The equipment has no moving parts and uses a single sensor chip on which multiple channels can be incorporated. A light emitting diode is used as a photon source while a CCD camera forms the detector. The optical configuration has been designed to achieve a uniform illumination of the sample over a fixed area with a range of incident angles. A calibration test using sucrose solutions shows that the sensitivity of the equipment is 4.3×10⁻⁴ refractive index units per pixel line-pair. The use of the system for simultaneous interrogation of different polyelectrolyte thin films, formed by the electrostatic layer-by-layer deposition method, is demonstrated. A reversible pH-dependent response for these organic layers is also reported.     

Knowledge-directed Adaptation in Multi-level Agents

Most work on adaptive agents have a simple, single layerarchitecture. However, most agent architectures support three levels ofknowledge and control: a reflex level for reactive responses, a deliberatelevel for goal-driven behavior, and a reflective layer for deliberateplanning and problem decomposition. In this paper we explore agentsimplemented in Soar that behave and learn at the deliberate and reflectivelevels. These levels enhance not only behavior, but also adaptation. Theagents use a combination of analytic and empirical learning, drawing from avariety of sources of knowledge to adapt to their environment. We hypothesize that complete, adaptive agents must be able to learn across all three levels.