Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Dissecting the protocol and network traffic of the OnLive cloud gaming platform

Cloud gaming is a new paradigm that is envisaged to play a pivotal role in the video game industry in forthcoming years. Cloud gaming, or gaming on demand, is a type of online gaming that allows on-demand streaming of game content onto non-specialised devices (e.g. PC, smart TV, etc.). This approach requires no downloads or game installation because the actual game is executed on the game company’s server and is streamed directly to the client. Nonetheless, this revolutionary approach significantly affects the network load generated by online games. As cloud gaming presents new challenges for both network engineers and the research community, both groups need to be fully conversant with these new cloud gaming platforms. The purpose of this paper is to investigate OnLive, one of the most popular cloud gaming platforms. Our key contributions are: (a) a review of the state-of-the-art of cloud gaming; (b) reverse engineering of the OnLive protocol; and (c) a synthetic traffic model for OnLive.     

Experimental observation of temperature gradients occurring in a single zeolite pellet

An experimental study has been made of temperature profiles incident within a zeolite adsorbent particle in the course of adsorption of n-heptan. Using thermocouple wires 0.1 mm in diameter it has been possible to measure simultaneously the temperatures of the surface and in the centre. It was observed that temperature differences between center of the pellet and ambient stagnant gas may be more than 20°C. The results of this work indicate that the overheating of an adsorbent particle is a very rapid process which is followed by a slow cooling of the hot particle. Experimental data are compared with predictions calculated from the theoretical model.     

Solvent induced crystallization of syndiotactic poly(methyl methacrylate) relation to the formation of polymer aggregates in solution

Polymer Bulletin - Solutions of syndiotactic (s) poly (methyl methacrylate) (PMMA) and samples of solid s-PMMA prepared from these solutions were studied by NMR and infrared (IR) spectroscopy and...     

Scalable Realistic Rendering with Many‐Light Methods

Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering.     

Study of rotational mobility of stable nitroxide radicals in solid polymers

The rotational mobility of stable nitroxide radicals in PS, PMMA, PVC, PP and PE has been studied over a wide temperature range by the e.s.r. method. At temperatures T lower than T_g, spin probes act as kinetically independent particles, the rotational frequency of which is deter mined mainly by the micropore dimensions of the polymer and depends indirectly on the mobility of segments or side groups.     

A new set distance and its application to shape registration

We propose a new distance measure, called Complement weighted sum of minimal distances, between finite sets in ${\mathbb Z }^n$ and evaluate its usefulness for shape registration and matching. In this set distance the contribution of each point of each set is weighted according to its distance to the complement of the set. In this way, outliers and noise contribute less to the new similarity measure. We evaluate the performance of the new set distance for registration of shapes in binary images and compare it to a number of often used set distances found in the literature. The most extensive evaluation uses a set of synthetic 2D images. We also show three examples of real problems: registering a set of 2D images extracted from synchrotron radiation micro-computed tomography (SR $\upmu $ CT) volumes depicting bone implants; the difficult multi-modal registration task of finding the exact location of a 2D slice of a bone implant, as imaged by a light microscope, within a 3D SR $\upmu $ CT volume of the same implant; and finally recognition of handwritten characters. The evaluation shows that our new set distance performs well for all tasks and outperforms the other observed distance measures in most cases. It is therefore useful in many image registration and shape comparison tasks.     

HamleDT: Harmonized multi-language dependency treebank

We present HamleDT—a HArmonized Multi-LanguagE Dependency Treebank. HamleDT is a compilation of existing dependency treebanks (or dependency conversions of other treebanks), transformed so that they all conform to the same annotation style. In the present article, we provide a thorough investigation and discussion of a number of phenomena that are comparable across languages, though their annotation in treebanks often differs. We claim that transformation procedures can be designed to automatically identify most such phenomena and convert them to a unified annotation style. This unification is beneficial both to comparative corpus linguistics and to machine learning of syntactic parsing.     

Influence of anionic form on thermooxidation of TMAHP–cellulose

With the help of DTA, DTG elementary analysis of carbonized residues and ESR spectroscopy the influence of anionic form on thermooxidation of trimethylammoniumhydroxyprophyl (TMAHP)–cellulose was studied. At 300°C the percentage of carbon in carbonized residue thermolyzed in oxidative atmosphere is higher than for the sample degraded in inert atmosphere. The percentage of hydrogen decreases simultaneously. The concentration of free radicals in thermolyzed residue also increases due to the presence of oxygen. We propose that oxygen is abstracting the hydrogen atoms from polysaccharide and unpaired electrons on carbon atoms are produced. At 400°C the percentage of carbon in residues prepared at inert atmosphere is higher than for residue formed at oxidative atmosphere. Also the concentration of free radicals in thermolyzed residues obtained in inert atmosphere is greater than for those from oxidative ones. That is why suppose that at this temperature oxygen is bonded to polysaccharide residue and free radicals are terminated. From the semiquantitative DTA we can make the following sequence of samples according to their increasing thermooxidative effect: unmodified cellulose < A–HSO < A–Br^? < A–I^? < A–NO < A–H₂PO < A–CH₃COO^? < A–HCO < A–F^? < A–Cl^?1 < A–OH^p?.