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.     

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.     

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.     

The potentiometric behaviour of copolymers of methacrylic acid in water-ethanol solutions

Summary The synthesis is reported of copolymers of styrene with methacrylic acid and of methyl methacrylate with methacrylic acid by radical copolymerization, of copolymers of methyl methacrylate with methacrylic acid by partial alkaline hydrolysis of poly(methyl methacrylate), and of block copolymers of styrene with methacrylic acid. Modified titration curves of all these copolymers were recorded in water and water-ethanol solutions. In a solution containing 50 mass.% ethanol, only small differences could be observed between the potentiometric behaviour of the individual copolymers and polymethacrylic acid. Also, there were no essential differences in any of the solvents used between the potentiometric behaviour of block copolymers of styrene with methacrylic acid, on the one hand, and polymethacrylic acid, on the other. On the contrary, maxima and minima were always observed on the modified titration curves of statistical copolymers with a higher content of the hydrophobic comonomer in solutions with a high water content. Thus, using the modified titration curves, it is possible to decide whether a given copolymer is of the block or statistical type.     

Formulating the template ILP consistency problem as a constraint satisfaction problem

Inductive Logic Programming (ILP) deals with the problem of finding a hypothesis covering positive examples and excluding negative examples, where both hypotheses and examples are expressed in first-order logic. In this paper we employ constraint satisfaction techniques to model and solve a problem known as template ILP consistency, which assumes that the structure of a hypothesis is known and the task is to find unification of the contained variables. In particular, we present a constraint model with index variables accompanied by a Boolean model to strengthen inference and hence improve efficiency. The efficiency of models is demonstrated experimentally.     

Limitations of a Mapping Algorithm with Fragmentation Mimics (MAFM) when modeling statistical data sources based on measured packet network traffic

Knowing the estimation of a statistical process’s parameters for measured network traffic is very important as it can then be further used for the statistical analyses and modeling of network traffic in simulation tools. It is for this reason that different estimation methods are proposed that allow estimations of the statistical processes of network traffic. One of them is our own histograms comparison (EMHC) based method that can be used to estimate statistical data-length process parameters from measured packet traffic. The main part of EMHC method is Mapping Algorithm with Fragmentation Mimics (MAFM).     

Zusätzliche Stromwärmeverluste im Läufer von Induktionsmaschinen und ihre räumliche Verteilung bei Speisung mit U-Umrichtern im Blockbetrieb

Übersicht Die zusätzlichen Stromwärmeverluste im Läufer ändern sich bei einem Drehzahlstellantrieb je nach Betriebsweise des Umrichters beträchtlich. Im Blockbetrieb ist der Gesamtverlust kaum vom Lastzustand (Schlupf) abhängig. Im Synchronismus sind die Verluste jedoch ungleichmäßig auf die einzelnen Läuferstränge oder Stäbe verteilt. Die Maxima und Minima der Stabverluste stehen im Synchronismus etwa im Verhältnis 10:1 zueinander. Die Verluste in dem am stärksten beaufschlagten Läuferstab liegen nicht wesentlich niedriger als im Bemessungsbetrieb. Die gesamten zusätzlichen Stromwärmeverluste wachsen bei konstanter Speisefrequenz quadratisch mit der Spannung. Im Feldschwächbereich nehmen sie in Abhängigkeit von der Speisefrequenz ungefähr nach der Funktion 1/^1,52 ab.

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Additional rotor I²R-losses and their spatial distribution in three-phase windings respectively rotor bars of induction motors fed from six-step U-invertors

Contents Additional rotor I²R-losses in speed variable drives with induction motors change very strongly with the operation mode of the invertor. During block-operation the sum of these additional losses is nearly independent of the load (slip). But at synchronous speed the losses are distributed very unequally among the phase windings respectively the rotor bars. The ratio of maximum to minimum bar losses is approximately 10:1. The highest ohmic loss in a bar is nearly the same as the rated bar loss. The additional rotor I²R-losses change with the square of the voltage. In the field weakening range the losses drop with the frequency approximately following the function 1/^1,52.