Optical transfer function of slit-coupled systems: double-pass monochromators

The influence that the width of an intermediate slit has on the incoherent modulation optical transfer function of two identical systems coupled by a slit placed in the image plane of the first system is studied. The special case of a double-pass parabolized Ebert monochromator is considered in detail.     

Floral nectar phenolics as biochemical markers for the botanical origin of heather honey

In order to find out biochemical markers for the botanical origin of heather (Erica) honey, the phenolic metabolites present in heather floral nectar, collected from the honey-stomach of bees gathering nectar from these flowers, were analysed. The flavonoid fraction of nectar contained four main flavonoids. Two of them were quercetin and kaempferol 3-rhamnosides, and the other two were tentatively identified as myricetin 3-methyl ether and isorhamnetin 3-rhamnosides. Since the natural glycosides are hydrolysed by bee enzymes to render the corresponding aglycones, which are the metabolites detected in honey, acid hydrolysis of the nectar glycosides was achieved. The aglycones quercetin, myricetin 3-methyl ether, kaempferol and isorhamnetin were identified, as well as the gallic acid derivative ellagic acid. The analysis of Portuguese heather honey samples showed that ellagic acid was present in all the samples in significant amounts ranging between 100 g and 600 g per 100 g honey. The other nectar-derived flavonoids were also present, although some of them in very variable amounts. Ellagic acid and myricetin 3-methyl ether, which have not been detected in any of the monofloral honey samples investigated so far, with the only exception being a French honey sample of the botanically relatedCalluna (Ericaceae) which also contained ellagic acid, seem to be the most useful potential markers for the floral origin of heather honey. However, more detailed and extensive investigations are needed to prove the utility of these markers.     

A hybrid solution to the multi-robot integrated exploration problem

In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach.     

Generic Self-calibration of Central Cameras from Two Rotational Flows

We address the self-calibration of a smooth generic central camera from only two dense rotational flows produced by rotations of the camera about two unknown linearly independent axes passing through the camera centre. We give a closed-form theoretical solution to this problem, and we prove that it can be solved exactly up to a linear orthogonal transformation ambiguity. Using the theoretical results, we propose an algorithm for the self-calibration of a generic central camera from two rotational flows.     

Time-extended multi-robot coordination for domains with intra-path constraints

Many applications require teams of robots to cooperatively execute tasks. Among these domains are those in which successful coordination must respect intra-path constraints, which are constraints that occur on the paths of agents and affect route planning. This work focuses on multi-agent coordination for disaster response with intra-path precedence constraints, a compelling application that is not well addressed by current coordination methods. In this domain a group of fire truck agents attempt to address fires spread throughout a city in the wake of a large-scale disaster. The disaster has also caused many city roads to be blocked by impassable debris, which can be cleared by bulldozer robots. A high-quality coordination solution must determine not only a task allocation but also what routes the fire trucks should take given the intra-path precedence constraints and which bulldozers should be assigned to clear debris along those routes.     

Computing the null space of finite element problems

We present a method for computing the null space of finite element models, including models with equality constraints. The method is purely algebraic; it requires access to the element matrices, but not to the geometry or material properties of the model.Theoretical considerations show that under certain conditions, both the amount of computation and the amount of memory required by our method scale linearly with model size; memory scales linearly but computation scales quadratically with the dimension of the null space. Our experiments confirm this: the method scales extremely well on 3-dimensional model problems. In general, large industrial models do not satisfy all the conditions that the theoretical results assume; however, experimentally the method performs well and outperforms an established method on industrial models, including models with many equality constraints.The accuracy of the computed null vectors is acceptable, but the method is usually less accurate than a more naive (and computationally much more expensive) method.     

Interactive classification for pre-integrated volume rendering of high-precision volume data

The pre-integrated volume rendering technique is widely used for creating high quality images. It produces good images even though the transfer function is nonlinear. Because the size of the pre-integration lookup table is proportional to the square of data precision, the required storage and computation load steeply increase for rendering of high-precision volume data. In this paper, we propose a method that approximates the pre-integration function proportional to the data precision. Using the arithmetic mean instead of the geometric mean and storing opacity instead of extinction density, this technique reduces the size and the update time of the pre-integration lookup table so that it classifies high-precision volume data interactively. We demonstrate performance gains for typical renderings of volume datasets.     

The influence of cooling rate during alloy casting on the oxidation behaviour of TiAl-based intermetallics

The oxidation behaviour of the intermetallic phase Ti-50 at% Al at 900 °C was studied. It was found that the oxidation behaviour strongly depends on the composition and distribution of the and ₂-phases in the alloy microstructure. As this microstructure strongly depends on the alloy cooling rate, the oxidation behaviour of TiAl-based intermetallics is significantly affected by the casting procedure and subsequent heat treatment. Rapid cooling from high temperature (T 1400 °C) has a beneficial effect on oxidation behaviour.On leave from the Academy of Mining and Metallurgy, Krakow, Poland.