Human-Robot Interaction Through Gesture-Free Spoken Dialogue

We present an approach to human-robot interaction through gesture-free spoken dialogue. Our approach is based on passive knowledge rarefication through goal disambiguation, a technique that allows a human operator to collaborate with a mobile robot on various tasks through spoken dialogue without making bodily gestures. A key assumption underlying our approach is that the operator and the robot share a common set of goals. Another key idea is that language, vision, and action share common memory structures.We discuss how our approach achieves four types of human-robot interaction: command, goal disambiguation, introspection, and instruction-based learning. We describe the system we developed to implement our approach and present experimental results.     

Particle Swarm Optimization and Pure Adaptive Search in Finish Goods’ Inventory Management

Abstract

Inventory management deals with a tradeoff between the benefits of keeping stocks of goods that allows fulfillment of the customer’s demand, and the cost of carrying inventory. Inventory control techniques are very important components and the most organizations can substantially reduce their costs associated with the flow of materials. This paper presents new inventory management model based on particle swarm optimization and pure adaptive search global optimization algorithm in production-inventory system. The proposed model is focusing on planned level of demand for finished goods, production and raw materials cost, production capacity as the norm, change of the production cost and inventory capital cost, all of which are typical factors in automobile manufacture industry. The model determines different factors such as the minimizing inventory quantity, minimizing inventory value, and minimizing production cost based on demand for production items. The model is tested with original real-world dataset obtained from the automotive company Lear from US and its factory in Novi Sad, Serbia.     

Robust Kalman filtering for nonlinear multivariable stochastic systems in the presence of non‐Gaussian noise

The presence of outliers can considerably degrade the performance of linear recursive algorithms based on the assumptions that measurements have a Gaussian distribution. Namely, in measurements there are rare, inconsistent observations with the largest part of population of observations (outliers). Therefore, synthesis of robust algorithms is of primary interest. The Masreliez–Martin filter is used as a natural frame for realization of the state estimation algorithm of linear systems. Improvement of performances and practical values of the Masreliez‐Martin filter as well as the tendency to expand its application to nonlinear systems represent motives to design the modified extended Masreliez–Martin filter. The behaviour of the new approach to nonlinear filtering, in the case when measurements have non‐Gaussian distributions, is illustrated by intensive simulations. Copyright © 2015 John Wiley & Sons, Ltd.     

Investigation of technological approaches for reduction of methanol formation in plum wines

Methanol is natural ingredient of alcoholic beverages and soft drinks; however, the products of its metabolic transformations (formaldehyde and formic acid) are toxic to humans. The aim of this research was to assess the application of different physico‐chemical treatments of pomace in order to find the most efficient method for reducing the methanol during fermentation with the least effect on the sensory properties of the wine. The following procedures were studied: addition of tannins in pomace, addition of phenolic acids, addition of d ‐galacturonic and pectic acid, use of bentonite and zeolite, heat treatment of pomace, thermosonication and treatment of pomace with microwaves. Fruit wine used in this study was produced from plums (Prunus domestica L.). Applied treatments showed variable efficiency in reduction of methanol formation in plum wine. It may be noted that the procedures that involved some form of thermal treatment were characterized by a significant decrease in the production of methanol (up to 60–70%) but mostly tended to have a negative impact on the sensory properties of the produced wines. However, exposure of pomace to microwaves for a short time, owing to the contribution of mechanisms of non‐thermal nature (kinetic and chemical), allowed for a significant reduction in methanol formation with a negligible impact on the sensory properties. The decrease in methanol formation during fermentation using tannins, pectic acid, bentonite and zeolite was poor, with only a reduction of up to 15%. Obtained results are significant to the fruit wine and spirit industry, considering the common problem related to an increased content of methanol in these beverages. Copyright © 2016 The Institute of Brewing & Distilling     

Modeling of the Temperature Effect on Oxygen Absorption by Iron‐Based Oxygen Scavengers

A new engineering‐oriented model for prediction of the effect of temperature on the kinetics of oxygen absorption by iron‐based oxygen scavengers (IOSs) was developed. The model is based on the physicochemical mechanism of the O₂ scavenging process by the active component of the IOS (iron powder). The conclusions of this study are: (1) the iron deposits formed on the iron particles are composed of 2 different layers: an inner layer of Fe₃O₄ and an outer layer of FeOOH that vanishes with the depletion of oxygen. (2) The model considers the chemical processes in the heterogeneous closed system “Fe–H₂O–NaCl–O₂” and describes the kinetics of oxygen absorption by the powder, depending on the characteristics of the system. (3) The nonlinear ordinary differential equation (ODE) of the O₂ absorption kinetics was derived and a simple approximate solution to this ODE was obtained theoretically that is similar to the empirical exponential formula published in the relevant literature. (4) The temperature dependence of the oxygen absorption rate is more complicated than that described by the Arrhenius equation.     

Probabilistic resource allocation in heterogeneous distributed systems with random failures

The problem of finding efficient workload distribution techniques is becoming increasingly important today for heterogeneous distributed systems where the availability of compute nodes may change spontaneously over time. Resource-allocation policies designed for such systems should maximize the performance and, at the same time, be robust against failure and recovery of compute nodes. Such a policy, based on the concepts of the Derman–Lieberman–Ross theorem, is proposed in this work, and is applied to a simulated model of a dedicated system composed of a set of heterogeneous image processing servers. Assuming that each image results in a “reward” if its processing is completed before a certain deadline, the goal for the resource allocation policy is to maximize the expected cumulative reward. An extensive analysis was done to study the performance of the proposed policy and compare it with the performance of some existing policies adapted to this environment. Our experiments conducted for various types of task-machine heterogeneity illustrate the potential of our method for solving resource allocation problems in a broad spectrum of distributed systems that experience high failure rates.     

Single‐cell‐gap transflective liquid‐crystal display and the use of photoalignment technology

Abstract— In this paper, transflective liquid‐crystal‐display (LCD) technology will be reviewed, and several new single‐cell‐gap transflective LCD configurations are proposed. Photoalignment technology is studied especially for transflective‐LCD applications. In order to realize the optimal performance of the display as well as a matched transmittance/reflectance voltage curve (TVC/RVC) for the transflective configurations, two different single‐cell‐gap transflective‐LCD approaches will be discussed. The first one is the dual‐mode single‐cell‐gap approach, in which different liquid‐crystal modes are applied to the transmissive and reflective subpixels of the transflective LCD. The other approach is the single‐mode s ingle‐cell‐gap approach, in which an in‐cell retardation film is applied to adjust the performance and TVC/RVC matching of a transflective LCD. Photoalignment technology is used to fabricate the dual‐mode liquid‐crystal cell in the first approach and also the in‐cell retardation film in the second approach. Prototypes of the proposed configurations have been fabricated, which show good performance and a matched TVC/RVC.     

A Distributed Ant Algorithm for\protect Efficiently Patrolling a Network

We consider the problem of patrolling—i.e. ongoing exploration of a network by a decentralized group of simple memoryless robotic agents. The model for the network is an undirected graph, and our goal, beyond complete exploration, is to achieve close to uniform frequency of traversal of the graphs edges. A simple multi-agent exploration algorithm is presented and analyzed. It is shown that a single agent following this procedure enters, after a transient period, a periodic motion which is an extended Eulerian cycle, during which all edges are traversed an identical number of times. We further prove that if the network is Eulerian, a single agent goes into an Eulerian cycle within 2|E|D steps, |E| being the number of edges in the graph and D being its diameter. For a team of k agents, we show that after at most 2( 1 + 1/k) |E|D steps the numbers of edge visits in the network are balanced up to a factor of two. In addition, various aspects of the algorithm are demonstrated by simulations.     

Robot-assisted wayfinding for the visually impaired in structured indoor environments

We present a robot-assisted wayfinding system for the visually impaired in structured indoor environments. The system consists of a mobile robotic guide and small passive RFID sensors embedded in the environment. The system is intended for use in indoor environments, such as office buildings, supermarkets and airports. We describe how the system was deployed in two indoor environments and evaluated by visually impaired participants in a series of pilot experiments. We analyze the system’s successes and failures and outline our plans for future research and development.