Infrared target-flare discrimination using a ZISC hardware neural network

The last generation of infrared imaging aircraft seekers and trackers uses pattern recognition algorithms to find and keep a lock on an aircraft in the presence of decoy flares. These algorithms identify targets, based on the features of the various objects in the missile’s field of view. Because modern both aircrafts and missiles fly faster than sound, speed of operation of the target identifier is critical. In this article, we propose a target recognition system that respects this time constraint. It is based on an artificial neural network implemented in hardware, as a set of parallel processors on a commercially available silicon chip called a ZISC, for zero instruction set computer. This chip would be integrated in the infrared missile seeker and tracker. We describe the characteristics of the images that the image processing module of this seeker and tracker extracts from the infrared video frames and show how to construct from these translation and rotation invariant features that can be used as input to the neural network. We determine the individual discriminating power of these features by constructing their histograms, which allows us to eliminate some as not being useful for our purpose. Finally, by testing our system on real data, we show that it has a 90% success rate in aircraft-flare identification, and a processing time that during this time, the aircrafts and missiles will have traveled only a few millimeters. Most of the images on which the neural network makes its mistakes are seen to be hard to recognize even by a human expert.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Hybrid metaheuristics for scheduling of machines and transport robots in job shop environment

In real manufacturing environments, the control of some elements in systems based on robotic cells, such as transport robots has some difficulties when planning operations dynamically. The Job Shop scheduling Problem with Transportation times and Many Robots (JSPT-MR) is a generalization of the classical Job Shop scheduling Problem (JSP) where a set of jobs additionally have to be transported between machines by several transport robots. Hence, the JSPT-MR is more computationally difficult than the JSP presenting two NP-hard problems simultaneously: the job shop scheduling problem and the robot routing problem. This paper proposes a hybrid metaheuristic approach based on clustered holonic multiagent model for the JSPT-MR. Firstly, a scheduler agent applies a Neighborhood-based Genetic Algorithm (NGA) for a global exploration of the search space. Secondly, a set of cluster agents uses a tabu search technique to guide the research in promising regions. Computational results are presented using two sets of benchmark literature instances. New upper bounds are found, showing the effectiveness of the presented approach.     

Resilient overlay network for real-time interactive multimedia sessions in corporate networks

Real-time interactive multimedia communications are becoming increasingly useful for education, business, e-commerce and e-government, providing an enriched user experience in teleconferencing, e-meetings, distance training and product demonstrations. Large corporations are usually located at several sites, so real-time multipoint sessions within corporations are especially difficult. IP multicast is available or feasible within each site of an organization. Thus, corporate networks can be considered as various multicast-capable networks interconnected through a wide area network without multicast connectivity. This paper proposes a resilient self-managed overlay network to support real-time multipoint interactive sessions within corporate networks. The proposed overlay takes advantage of the configuration of corporate networks to self-organize and provide an efficient media delivery service, making use of multicast communications wherever available. Various self-healing techniques are implemented allowing for the continuity of ongoing sessions in spite of network disruptions and entity failures. Extensive simulations and tests have been carried out to assess the performance and resilience of the overlay facing several types of disruptions.     

An Analysis of Edge Detection by Using the Jensen-Shannon Divergence

This work constitutes a theoretical study of the edge-detection method by means of the Jensen-Shannon divergence, as proposed by the authors. The overall aim is to establish formally the suitability of the procedure of edge detection in digital images, as a step prior to segmentation. In specific, an analysis is made not only of the properties of the divergence used, but also of the method's sensitivity to the spatial variation, as well as the detection-error risk associated with the operating conditions due to the randomness of the spatial configuration of the pixels. Although the paper deals with the procedure based on the Jensen-Shannon divergence, some problems are also related to other methods based on local detection with a sliding window, and part of the study is focused to noisy and textured images.     

Generic remeshing of 3D triangular meshes with metric-dependent discrete voronoi diagrams

In this paper, we propose a generic framework for 3D surface remeshing. Based on a metric-driven Discrete Voronoi Diagram construction, our output is an optimized 3D triangular mesh with a user defined vertex budget. Our approach can deal with a wide range of applications, from high quality mesh generation to shape approximation. By using appropriate metric constraints the method generates isotropic or anisotropic elements. Based on point-sampling, our algorithm combines the robustness and theoretical strength of Delaunay criteria with the efficiency of entirely discrete geometry processing . Besides the general described framework, we show experimental results using isotropic, quadric-enhanced isotropic and anisotropic metrics which prove the efficiency of our method on large meshes, for a low computational cost.     

Triangular springs for modeling nonlinear membranes

This paper provides a formal connection between springs and continuum mechanics in the context of one-dimensional and two-dimensional elasticity. In the first stage, the equivalence between tensile springs and the finite element discretization of stretching energy of planar curves is established. Furthermore, when the strain is a quadratic function of stretch, this energy can be described with a new type of springs called tensile biquadratic springs. In the second stage, we extend this equivalence to nonlinear membranes (St Venant-Kirchhoff materials) on triangular meshes leading to triangular biquadratic and quadratic springs. Those tensile and angular springs produce isotropic deformations parameterized by Young modulus and Poisson ratios on unstructured meshes in an efficient and simple way. For a specific choice of the Poisson ratio, 1/3, we show that regular spring-mass models may be used realistically to simulate a membrane behavior. Finally, the different spring formulations are tested in pure traction and cloth simulation experiments.     

Recording and interpretation/analysis of tilt signals with five ASKANIA borehole tiltmeters at the KTB

In June 2003, a large scale injection experiment started at the Continental Deep Drilling site (KTB) in Germany. A tiltmeter array was installed which consisted of five high resolution borehole tiltmeters of the ASKANIA type, also equipped with three dimensional seismometers. For the next 11 months, 86 000 m(3) were injected into the KTB pilot borehole 4000 m deep. The average injection rate was approximately 200 l/min. The research objective was to observe and to analyze deformation caused by the injection into the upper crust at the kilometer range. A new data acquisition system was developed by Geo-Research Center Potsdam (GFZ) to master the expected huge amount of seismic and tilt data. Furthermore, it was necessary to develop a new preprocessing software called PREANALYSE for long-period time series. This software includes different useful functions, such as step and spike correction, interpolation, filtering, and spectral analysis. This worldwide unique installation offers the excellent opportunity of the separation of signals due to injection and due to environment by correlation of the data of the five stations with the ground water table and meteorological data.     

Property Testing of Regular Tree Languages

We consider the edit distance with moves on the class of words and the class of ordered trees. We first exhibit a simple tester for the class of regular languages on words and generalize it to the class of ranked and unranked regular trees. We also show that this distance problem is -complete on ordered trees. A preliminary version of this paper appeared in Proceedings of 31st International Colloquium on Automata, Languages and Programming, volume 3142 of Lecture Notes in Computer Science, pages 932–944, Springer, 2005. Work supported by ACI Sécurité Informatique: VERA of the French Ministry of research.     

Single-input observability of continuous-time systems

A universal input is an inputu with the property that, whenever two states give rise to a different output for some input, then they give rise to a different output foru. For an observable system,u is universal if the initial state can be reconstructed from the knowledge of the output foru. It is shown that, for continuous-time analytic systems, analytic universal inputs exist, and that, in the class ofC inputs, universality is a generic property. Stronger results are proved for polynomial systems.