Tablet PC-based Visual Target-Following System for Quadrotors

This paper proposes a vision-based, closed-loop target-following system for quadrotors. The system consists of a vision-based target detection algorithm that uses the color and image moment of a given target. Flight control commands are directly generated based on the offset of the target from the image frame center. The image processing and control algorithms have been implemented on a latest tablet computer, which is capable of running those algorithms in real time. The proposed system was demonstrated using a commercially available quadrotor platform equipped with a forward-facing camera. Experiments and their analyses showed satisfactory target following performance.     

Weathering wikis: Net-based learning meets political science in a South African university

Wikis represent flexible tools functioning as open-ended environments for collaboration while also offering process and group writing support. Here we focus on a project to innovate the use of wikis for collaborative writing within student groups in a final-year undergraduate political science course. The primary questions guiding our research were in what ways could wikis assist collaborative learning in an undergraduate course in political science and how we could support educators’ in the effective use of wikis? Curiously, wikis may serve as a mediating artifact for collaborative writing even among students who are reluctant to post online drafts. The paper raises questions concerning the nature and limits of lecturer and tutor power to deliver transformative educational innovations in relation to the capacity of students to embrace, comply with, or resist such innovation. In analysing the negotiation of the use of wikis in the course by and among the lecturer, tutors, and students, we draw on two principles in activity theory, which Yrjö Engeström argued are central to his model of expansive learning: multi-voicedness and contradictions [Engeström, Yrjö. (1987). Learning by expanding: An activity-theoretical approach to developmental research. Helsinki: Orienta-Konsultit; Engeström, Yrjö. (2001). Expansive learning at work: Toward an activity theoretical reconceptualization. Journal of Education and Work14(1), 133-156.]. We add a third principle, transparency, to more fully capture what we observed.     

Driving on Mars with RSVP

The rover sequencing and visualization program (RSVP) suite of tools has been a critical factor in the success of the Mars exploration rover (MER) missions. It would be impossible to prepare the large command loads each sol without the capabilities that it possesses. It has proven to be robust and easy to use and capable of answering key questions about sequence validity and constraints. Certainly, training is required to use RSVP, but this is primarily in the general area of command sequencing and rover operations. Once these concepts are understood, RSVP feels natural for building sequences. RSVP has met its prime requirements of supporting rapid assimilation and understanding of the terrain and operational constraints, rapid sequence generation and validation, and production of documentation and archival products. This can be seen in the very limited number of sols lost due to errors in the command sequences. The success of the MER mission and the tremendous amount of science data collected attest to the capability of RSVP.     

Persistent UAV Service: An Improved Scheduling Formulation and Prototypes of System Components

The flight duration of unmanned aerial vehicles (UAVs) is limited by their battery or fuel capacity. As a consequence, the duration of missions that can be pursued by UAVs without supporting logistics is restricted. However, a system of UAVs that is supported by automated logistics structures, such as fuel service stations and orchestration algorithms, may pursue missions of conceivably indefinite duration. This may be accomplished by handing off the mission tasks to fully fueled replacement UAVs when the current fleet grows weary. The drained UAVs then seek replenishment from nearby logistics support facilities. To support the vision of a persistent fleet of UAVs pursuing missions across a field of operations, we develop an improved mixed integer linear programming (MILP) model that can serve to support the system’s efforts to orchestrate the operations of numerous UAVs, missions and logistics facilities. Further, we look toward the future implementation of such a persistent fleet outdoors and develop prototype components required for such a system. In particular, we develop and demonstrate the concerted operation of a scheduling model, UAV onboard vision-based guidance system and replenishment stations.     

Efficient location and allocation strategies for undesirable facilities considering their fundamental properties

The phrase “not in my backyard” (NIMBY) refers to the well-known social phenomena in which residents oppose the construction or location of undesirable facilities near their homes. Examples of such facilities include electric transmission lines, recycling centers and crematoria. Due to the opposition typically encountered in constructing an undesirable facility, the facility planner should understand the nature of the NIMBY phenomena and consider it as a key factor in determining facility location. We examine the characteristics of NIMBY phenomena and suggest two alternative mathematical optimization models with the objective of minimizing the total degree of NIMBY sentiments. Genetic algorithms are proposed to solve our linear and nonlinear integer programs. The results obtained via genetic algorithms for our linear integer programs are compared with those of CPLEX to evaluate their performance. The nonlinear programs are tested with various allocation policies. Sensitivity analysis is conducted about several system parameters.     

Study of conservation and recurrence of Runge–Kutta discontinuous Galerkin schemes for Vlasov–Poisson systems

In this paper we consider Runge–Kutta discontinuous Galerkin (RKDG) schemes for Vlasov–Poisson systems that model collisionless plasmas. One-dimensional systems are emphasized. The RKDG method, originally devised to solve conservation laws, is seen to have excellent conservation properties, be readily designed for arbitrary order of accuracy, and capable of being used with a positivity-preserving limiter that guarantees positivity of the distribution functions. The RKDG solver for the Vlasov equation is the main focus, while the electric field is obtained through the classical representation by Green’s function for the Poisson equation. A rigorous study of recurrence of the DG methods is presented by Fourier analysis, and the impact of different polynomial spaces and the positivity-preserving limiters on the quality of the solutions is ascertained. Several benchmark test problems, such as Landau damping, the two-stream instability, and the Kinetic Electro static Electron Nonlinear wave, are given.     

Forecasting the consumption of gasoline in the U.S.

The scarce oil situation in the 1970s gave rise to pressures to improve the Miles per Gallon efficiency of the U.S. car fleet. Responding to that pressure, at least one Corporate Strategic Planning group modeled forecasted U.S. gasoline consumption for personal vehicles. The pattern for the usage of U.S. gasoline usage was shown to decline through the year 2000, if current trends continued. Current rumors of the U.S. government's intention to again target the automobile led the authors to revisit that analysis with the intention of making the findings public.

This paper updates this model to show U.S. gasoline consumption patterns through the year 2002.     

Low resistive silicon substrate as an etch-stop layer for drilling thick SiO2 by spark assisted chemical engraving (SACE)

Controlling precisely the depth in glass micro-drilling by spark assisted chemical engraving (SACE) remains challenging, particularly for low depths. The possibility of using an electrically conductive material as an etch-stop layer for SACE gravity-feed drilling is investigated in this paper. Micromachining with constant DC and pulsed DC of 30–35 μm thick SiO₂ deposited on low resistive silicon substrate demonstrated the etch-stop function of the conductive silicon. Measurements of etch rates and hole profiles along with scanning electron microscope imaging revealed the mechanism underlying the etch-stop process. Low resistive silicon is demonstrated to be a good etch-stop layer for SACE gravity-feed drilling. Demonstration of machining of SiO₂ layer on silicon as a substrate and an etch-stop layer opens up new possibilities to adapt SACE for developing devices on silicon platform.     

New Linear Program Performance Bounds for Closed Queueing Networks

We develop new linear program performance bounds for closed reentrantqueueing networks based on an inequality relaxation of the averagecost equation. The approach exploits the fact that the transitionprobabilities under certain policies of closed queueing networksare invariant within certain regions of the state space. Thisinvariance suggests the use of a piecewise quadratic functionas a surrogate for the differential cost function. The linearprogramming throughput bounds obtained are provably tighter thanpreviously known bounds at the cost of increased computationalcomplexity. Functional throughput bounds parameterized by thefixed customer population N are obtained, alongwith a bound on the limiting throughput as N + .We show that one may obtain reduced complexity bounds while stillretaining superiority.