Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

LC-circuit calorimetry

We present a new type of calorimeter in which we couple an unknown heat capacity with the aid of Peltier elements to an electrical circuit. The use of an electrical inductance and an amplifier in the circuit allows us to achieve autonomous oscillations, and the measurement of the corresponding resonance frequency makes it possible to accurately measure the heat capacity with an intrinsic statistical uncertainty that decreases as ~t(m)(-3/2) with measuring time t(m), as opposed to a corresponding uncertainty ~t(m)(-1/2) in the conventional alternating current method to measure heat capacities. We have built a demonstration experiment to show the feasibility of the new technique, and we have tested it on a gadolinium sample at its transition to the ferromagnetic state.     

Photoacoustic technique for simultaneous measurements of thermal effusivity and absorptivity of pigments in liquid solution

A photoacoustic (PA) methodology, in the transmission configuration, for simultaneous measurements of thermal effusivity and molar absorption coefficient (absorptivity) for pigments in liquid solution is introduced. The analytical treatment involves a self-normalization procedure for the PA signal, as a function of the modulation frequency, for a strong absorbing material in the thermally thin regime, when the light travels across the sample under study. Two fitted parameters are obtained from the analysis of the self-normalized PA amplitude and phase, one of them proportional to the sample's optical absorption coefficient and from which, taking it for a series of samples at different concentrations, the pigment's absorptivity in liquid solution can be measured, the other one yields the sample's thermal effusivity. Methylene blue's absorptivity in distilled water was measured with this methodology at 658 nm, finding good agreement with the corresponding one reported in the literature.     

Note: The intermodulation lockin analyzer

Nonlinear systems can be probed by driving them with two or more pure tones while measuring the intermodulation products of the drive tones in the response. We describe a digital lockin analyzer which is designed explicitly for this purpose. The analyzer is implemented on a field-programmable gate array, providing speed in analysis, real-time feedback, and stability in operation. The use of the analyzer is demonstrated for intermodulation atomic force microscopy. A generalization of the intermodulation spectral technique to arbitrary drive waveforms is discussed.     

Drivers Using Mobile Phones in Traffic: An Ethnographic Study of Interactional Adaptation

Abstract

Mobile phone use in cars is a highly debated issue. Legislation and policy discussions flourish in many countries and coincide with an increased effort in design of new in-car technologies. The studies that influence policy and design decisions use experimental approaches and are based on a cognitive perspective. This article discusses why this is a problematic approach. Further, the article provides data and initial results from an ethnographic study of mobile phone use in traffic, where the aim is to investigate the interactional adaptation by which the driver fit the involvement with the phone with driving and vice versa. By taking part of drivers'daily work and video recording their activities of driving and handling the mobile phone, details are revealed that could not be found in experimental studies with a constructed setup. The article ends with a discussion of the benefits of this method and how it can be developed further.     

Patchy solution of a Francis–Byrnes–Isidori partial differential equation

The solution to the nonlinear output regulation problem requires one to solve a first‐order partial differential equation, known as the Francis–Byrnes–Isidori equations. In this paper, we propose a method to compute approximate solutions to the Francis–Byrnes–Isidori equations when the zero dynamics of the plant are hyperbolic and the exosystem is two dimensional. With our method, we are able to produce approximations that converge uniformly to the true solution. Our method relies on the periodic nature of two‐dimensional analytic center manifolds. Copyright © 2012 John Wiley & Sons, Ltd.     

Some problems for Clark’s model. II. A solution for Merton’s portfolio problem1

The problem of finding the optimal control over the portfolio for an investor in (B, S)-market is considered. Clark’s model is taken as a model for the stock price evolution. The cases of risk-loving, risk-neutral, and risk-averse investors are considered.     

Verification of Knowledge Assets in Electronic Repositories: Expert- and Community-Governance

Two mechanisms that verify knowledge contributions in electronic repositories are expert-governance and community-governance. Our goal is to examine repository users' perceptions of the conditions under which these mechanisms verify knowledge contributions. Qualitative data show that perceived credibility of experts, perceived ownership of content, and experts' (meticulous) execution of governance functions are salient for expert-governance, and the perceived involvement of community members, and community members' (continuous and collective) execution of governance functions are important for community-governance.     

Palmprint matching using feature points and SVD factorisation

In this paper, a new palmprint matching system based on the extraction of feature points is suggested. Using a scale-space representation, the points in question are corners formed by the intersection of creases and lines. Unlike minutiae, such points can still be extracted even on low resolution palmprints. Matching is carried out using an SVD factorisation of a proximity matrix and takes account of the coordinates of the detected points and their local texture. Our experiments have yielded some very good results evidenced by an EER of 0.10%.     

Synthetic aperture radar imaging with fractional Fourier transform and channel equalization

This paper investigates the Range-Doppler Algorithm based on the Fractional Fourier Transform (RDA-FrFT) to obtain High-Resolution (HR) images for targets in Synthetic Aperture Radar (SAR) imaging. A mathematical framework for the RDA-FrFT is developed in this paper with closed-form expressions for the range and azimuth compression. The channel effect is considered in this paper for the first time with three inverse techniques to reduce this effect; inverse filter deconvolution, Linear Minimum Mean Square Error (LMMSE) deconvolution, and regularized deconvolution. The performance of the RDA-FrFT is compared with the classical RDA, which is based on the Fourier Transform (FT). Simulation results reveal that the RDA-FrFT offers better focusing capabilities and greater side-lobe reduction ratios. The reflectivity profile obtained with the RDA-FrFT demonstrates a superior performance to the classical RDA. Results show also that the RDA-FrFT gives low Peak Side-Lobe (PSL) and Integrated Side-Lobe (ISL) levels after range and azimuth compression for the detected targets. Finally, the results reveal that the proposed regularized deconvolution technique enhances the performance of the RDA-FrFT significantly if the channel effect is considered.