Generating human-like soccer primitives from human data

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization.This paper presents a mechanism to generate two human-like motions, walking and kicking, for a biped robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In a similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently.The simulation results show that faster and more accurate searching can be achieved to generate an efficient human-like gait. Comparison is made with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League.     

A compact printed multistubs loaded resonator rectangular monopole antenna design for multiband wireless systems

In the present article, a compact triple‐band multistubs loaded resonator printed monopole antenna is proposed. The antenna consists of a quarter wavelength two asymmetrical inverted L‐shaped stubs to excite two resonant modes for 3.5/5.5 GHz bands and one integrated horizontally T‐shaped stub with inverted long L‐shaped stub to excite resonant mode for 2.5 GHz band. By loading these stub resonators along y‐axis with distinct gaps, the antenna resonates at three frequencies 2.57/3.52/5.51 GHz covering the desired bands while keeping compact size of 24 × 30 mm² (0.2 × 0.25 ). The proposed antenna is fabricated on Rogers RT/duroid 5880 substrate with thickness 0.79 mm and its performance experimentally verified. The measured results reveal that the antenna has the impedance bandwidths of about 210 MHz (2.50‐2.71 GHz), 260 MHz (3.37‐3.63 GHz), and 650 MHz (5.20‐5.85 GHz), for 2.5/3.5/5.5 GHz WiMAX and 5.2/5.8 GHz WLAN band systems. The antenna provides omnidirectional radiation patterns and flat antenna gains over the three operating bands. In addition, the design approach and effects of multistubs resonator lengths on the operating bands are also examined and discussed in detail.     

Real-time path planning in dynamic virtual environments using multiagent navigation graphs

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.     

Transjurisdictional Water Pollution Management in China: The Legal and Institutional Framework

The current study shows that the recent diesel price hike had an insignificant impact on irrigation costs incurred by diesel well owners in eastern India. Further, analysis of the farming enterprises of diesel well owners and water buyers from both diesel and electric wells confronted with a differential cost of irrigation water showed that farmers would be able to cope with a very high rise in irrigation costs through irrigation efficiency improvements and allocating more area to crops that give higher returns per unit of land and water. By doing this, they are able to maintain the farm returns.     

Drivers of change in agricultural water productivity and its improvement at basin scale in developing economies

We approach the issue of water productivity in agriculture by identifying five sets of drivers of change. We find that irrigation efficiencies at the field level can result in real water savings under certain conditions, but that small farmers in most of South Asia and Africa have little incentive to adopt the appropriate measures. Although water productivity improvement and water savings at the regional level are possible through a shift to economically efficient crops, such changes may be constrained by concerns with respect to domestic and regional food security, rural employment, and farming system resilience.     

Concept-based near-duplicate video clip detection for novelty re-ranking of web video search results

State-of-the-art near-duplicate video clip (NDVC) detection for novelty re-ranking uses non-semantic low-level features (color/texture) to detect and eliminate “content-based NDVC” and increases content level novelty in the top results. However, humans may perceive a video as near duplicate from a semantic perspective as well. In this paper, we propose concept-based near-duplicate video clip (CBNDVC) detection technique for novelty re-ranking. We identify “semantic NDVC”, making use of the semantic features (events/concepts) and re-rank the top results to increase the content as well as semantic novelty. Videos are represented as a multivariate time series of confidence values of relevant concepts and thereafter discovery of CBNDVC clusters is achieved by conceptual clustering. Obtained results show higher precision and recall from the user’s perspective.     

Grounded discovery of symbols as concept–language pairs

In human designer usage, symbols have a rich semantics, grounded on experience, which permits flexible usage — e.g. design ideation is improved by meanings triggered by contrastive words. In computational usage however, symbols are syntactic tokens whose semantics is mostly left to the implementation, resulting in brittle failures in many knowledge-based systems. Here we ask if one may define symbols in computational design as {label,meaning} pairs, as opposed to merely the label. We consider three questions that must be answered to bootstrap a symbol learning process: (a) which concepts are most relevant in a given domain, (b) how to define the semantics of such symbols, and (c) how to learn labels for these so as to form a grounded symbol. We propose that relevant symbols may be discovered by learning patterns of functional viability. The stable patterns are information-conserving codes, also called chunks in cognitive science, which relate to the process of acquiring expertise in humans. Regions of a design space that contain functionally superior designs can be mapped to a lower-dimensional manifold; the inter-relations of the design variables discovered thus constitute the chunks. Using these as the initial semantics for symbols, we show how the system can acquire labels for them by communicating with human designers. We demonstrate the first steps in this process in our baby designer approach, by learning two early grounded symbols, tight and loose.     

Characterization of CuAlO2 films prepared by dc reactive magnetron sputtering

Thin films of copper aluminum oxide (CuAlO₂) were prepared on glass substrates by dc magnetron sputtering at a substrate temperature of 523 K under various oxygen partial pressures in the range 1 × 10⁻⁴–3 × 10⁻³ mbar. The dependence of cathode potential on the oxygen partial pressure was explained in terms of oxidation of the sputtering target. The influence of oxygen partial pressure on the structural, electrical and optical properties was systematically studied. p-Type CuAlO₂ films with polycrystalline nature, electrical resistivity of 3.1 Ω cm, Hall mobility of 13.1 cm² V⁻¹ s⁻¹ and optical band gap of 3.54 eV were obtained at an oxygen partial pressure of 6 × 10⁻⁴ mbar.     

Thermal, mechanical and vibration characteristics of epoxy-clay nanocomposites

Diglycidyl ether of bisphenol-A (DGEBA) epoxy resin system filled individually with organoclay (OC) and unmodified clay (UC) were synthesized by mechanical shear mixing with the addition of diamino-diphenylmethane (DDM) hardener. The unmodified clay used was Na⁺-Montmorillonite (MMT) and the organoclay was alkyl ammonium treated MMT clay. The reinforcement effect of OC and UC in the epoxy polymer on thermal, mechanical and vibration properties were studied. X-ray diffraction (XRD) and Transmission electron microscopy (TEM) were used to study the structure and morphology of nanocomposites. Curing study shows that the addition of OC in epoxy resin aids the polymerization by catalytic effect, and UC addition does not show any effect in the curing behavior of epoxy polymer. Thermogravimetry analysis (TGA) shows enhanced thermal stability for epoxy with OC fillers than that of epoxy with UC fillers. The epoxy with OC fillers shows considerable improvement on tensile and impact properties over pure epoxy polymer and epoxy with UC fillers. The improvement in tensile and impact properties of nanocomposites is supported with the fracture surface studies. Epoxy with OC fillers shows enhanced vibration characteristics than that of the pure epoxy polymer and epoxy with UC fillers.