Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

PolyMAX,a Mobile WiMAX module for the ns-2 simulator with QoS and AMC support

In this paper, we present the PolyMAX module which enhances network simulator 2 (ns-2), the most popular network simulator used in academia, to provide one of the most complete simulation tools to evaluate the performance of Mobile WiMAX networks. PolyMAX is based on the National Institute of Standards and Technology (NIST) module and our specific contributions consist on the design and implementation of the Quality of Service (QoS) classes and QoS management messages, the uplink access grant-request mechanisms, Adaptive Modulation and Coding, and a scheduler handling all five WiMAX QoS classes. We also present validation results for the different components of our module and typical WiMAX simulation scenarios illustrating its flexibility and some of its features. The PolyMAX module represents an important tool enabling researchers to easily implement their Mobile WiMAX scheduling and Adaptive Modulation and Coding (AMC) algorithms and accurately evaluate their performance for realistic scenarios.     

Model‐based code generation for HLA federates

This paper addresses the problem of automated code generation for a High Level Architecture compliant federate application given its behavior model. The behavior model is a part of the architectural model of a federation that the federate can participate in. The federate behavior model is based on Live Sequence Charts, adopted as the behavioral specification formalism in the Federation Architecture Metamodel (FAMM). FAMM serves as a formal language for describing federation architectures. An objective is to help the testing of federation architecture by means of its prototype implementation early in the development lifecycle. A further objective is to help developers construct complete federate applications that are well modularized. The approach to achieve these objectives is aspect‐oriented in that the generated code, which handles the federate's interactions with a federation execution, serves as the base code, where the computation logic is to be weaved as an aspect. Copyright © 2009 John Wiley & Sons, Ltd.     

Packing spherical discrete elements for large scale simulations

We introduce a new geometric method to generate sphere packings with restricted overlap values. Sample generation is an important, but time-consuming, step that precedes a calculation performed with the discrete element method (DEM). At present, there does not exist any software dedicated to DEM which would be similar to the mesh software that exists for finite element methods (FEM). A practical objective of the method is to build very large sphere packings (several hundreds of thousands) in a few minutes instead of several days as the current dynamic methods do. The developed algorithm uses a new geometric procedure to position very efficiently the polydisperse spheres in a tetrahedral mesh. The algorithm, implemented into YADE-OPEN DEM (open-source software), consists in filling tetrahedral meshes with spheres. In addition to the features of the tetrahedral mesh, the input parameters are the minimum and maximum radii (or their size ratio), and the magnitude of authorized overlaps. The filling procedure is stopped when a target solid fraction or number of spheres is reached. Based on this method, an efficient tool can be designed for DEMs used by researchers and engineers. The generated packings can be isotropic and the number of contacts per sphere is very high due to its geometric procedure. In this paper, different properties of the generated packings are characterized and examples from real industrial problems are presented to show how this method can be used. The current C++ version of this packing algorithm is part of YADE-OPEN DEM [20] available on the web (https://yade-dem.org).     

Towards personality-based user adaptation: psychologically informed stylistic language generation

Conversation is an essential component of social behavior, one of the primary means by which humans express intentions, beliefs, emotions, attitudes and personality. Thus the development of systems to support natural conversational interaction has been a long term research goal. In natural conversation, humans adapt to one another across many levels of utterance production via processes variously described as linguistic style matching, entrainment, alignment, audience design, and accommodation. A number of recent studies strongly suggest that dialogue systems that adapted to the user in a similar way would be more effective. However, a major research challenge in this area is the ability to dynamically generate user-adaptive utterance variations. As part of a personality-based user adaptation framework, this article describes personage, a highly parameterizable generator which provides a large number of parameters to support adaptation to a user’s linguistic style. We show how we can systematically apply results from psycholinguistic studies that document the linguistic reflexes of personality, in order to develop models to control personage’s parameters, and produce utterances matching particular personality profiles. When we evaluate these outputs with human judges, the results indicate that humans perceive the personality of system utterances in the way that the system intended.     

Robust MIMO disturbance observer analysis and design with application to active car steering

A multi‐input–multi‐output extension of the well‐known two control degrees‐of‐freedom disturbance observer architecture that decouples the problem into single‐input–single‐output disturbance observer loops is presented in this paper. Robust design based on mapping D‐stability and the frequency domain specifications of weighted sensitivity minimization and phase margin bound to a chosen controller parameter space is presented as a part of the proposed design approach. The effect of the choice of disturbance observer Q filter on performance is explained with a numerical example. This is followed by the use of structured singular values in the robustness analysis of disturbance observer controlled systems subject to structured, real parametric and mixed uncertainty in the plant. A design and simulation study based on a four wheel active car steering control example is used to illustrate the methods presented in the paper. Copyright © 2009 John Wiley & Sons, Ltd.     

Co-constructing with stakeholders a role-playing game to initiate collective management of erosive runoff risks at the watershed scale

Erosive runoff is a recurring problem and is a source of sometimes deadly muddy floods in the Pays de Caux (France). The risk results from a conjunction of natural factors and human activity. Efficient actions against runoff in agricultural watersheds are well known. However they are still difficult to implement as they require co-operation between stakeholders. Local actors thus need tools to help them understand the collective consequences of their individual decisions and help to initiate a process of negotiation between them. We decided to use a participatory approach called companion modelling (ComMod), and, in close collaboration with one of the first group of local stakeholders, to create a role-playing game (RPG) to facilitate negotiations on the future management of erosive runoff. This paper describes and discusses the development of the RPG and its use with other groups of local stakeholders within the framework of two game sessions organized by two different watershed management committees. During the joint construction step, stakeholders shared their viewpoints about the environment, agents, rules, and how to model runoff in preparation for the creation of the RPG. During the RPG sessions, two groups of eight players, including farmers, mayors and watershed advisors, were confronted with disastrous runoff in a fictive agricultural watershed. Results showed that they managed to reduce runoff by 20–50% by engaging a dialogue about grass strips, storage ponds and management of the intercrop period. However, further progress is still needed to better control runoff through the implementation of better agricultural practices because, during the RPG sessions, the watershed advisors did not encourage farmers to do so. Because of the complexity of management problems, results of jointly constructing the game and the RPG sessions showed that modelling and simulation can be a very useful way of accompanying the collective learning process. This new way of working was welcomed by the participants who expressed their interest in organizing further RPG sessions.     

Optimal synthesis of planar mechanisms via an extensible-link approach

This paper presents a novel approach to optimize the design of planar mechanisms with revolute joints for function generation or path synthesis. The proposed method is based on the use of an extensible-link mechanism model whose strain energy is minimized to find the optimal rigid design. This enables us to get rid of assembly constraints and the use of natural coordinates makes the objective function simpler. Two optimization strategies are developed and then discussed. The first one relies on alternate optimizations of design parameters and point coordinates. The second one uses multiple partial syntheses as starting point for a full synthesis process. The question of finding the global optimum is also addressed and developed. A simple algorithm is proposed to find several local optima among which the designer may choose the best one taking other criteria into account (e.g. stiffness, collision, size,...). Three applications are presented to illustrate the strategies while mentioning their limits.     

Affiliated marketing

In information-intensive environments some firms may be sending their customers to other firms’ or affiliates’ websites in order to generate additional sales for their affiliates. Although this may provide a choice for the customers, from a firm’s point of view such strategies have the potential to cannibalize own sales. Hence, when customers purchase from other firms’ websites, the firm may loose its own customers. This study analyzes the optimality of such strategies using an analytical framework. The findings show that a firm may increase its prices and profit when its own customers purchase from other firm websites. An analysis of customer surplus and total welfare show that such strategies may have adverse effects. The results show that customer surplus and total welfare may decrease as a result of affiliations.     

An integrated case-based reasoning and MCDM system for Web based tourism destination planning

The accelerating interaction between technology and tourism has changed radically the efficiency and effectiveness of tourism organizations, as well as how consumers interact with organizations. In this study, a Web based intelligent framework for travel agencies is proposed that offers customers a fast and reliable response service in a less costly manner. The proposed framework integrates case-based reasoning (CBR) system with a well-known multi criteria decision making (MCDM) technique, namely Analytic Hierarchy Process, to enhance the accuracy and speed in case matching in tourism destination planning. The integration of two techniques enables taking advantages of their strengths and complements each other’s weaknesses. A case study is performed to demonstrate how this framework can facilitate intelligent decision support by retrieving best-fitted responses for customers.