Haptic two-finger contact with textiles

Real-time cloth simulation involves many computational challenges to be solved, particularly in the context of haptic applications, where high frame rates are necessary for obtaining a satisfying experience. In this paper, we present an interactive cloth simulation system that offers a compromise between a realistic physics-based simulation of fabrics and a haptic application meeting high requirements in terms of computation speed. Our system allows the user to interact with the fabric using two fingers. The required performance of the system is achieved by introducing an intermediate layer responsible for the simulation of the small part of the surface being in contact with the fingers. Additionally we separate the possible contact situations into different cases, each being individually handled by a specialised contact algorithm.

Real-time crowd motion planning

Real-time crowd motion planning requires fast, realistic methods for path planning as well as obstacle avoidance. In a previous work (Morini et al. in Cyberworlds International Conference, pp. 144–151, 2007), we introduced a hybrid architecture to handle real-time motion planning of thousands of pedestrians. In this article, we present an extended version of our architecture, introducing two new features: an improved short-term collision avoidance algorithm, and simple efficient group behavior for crowds. Our approach allows the use of several motion planning algorithms of different precision for regions of varied interest. Pedestrian motion continuity is ensured when switching between such algorithms. To assess our architecture, several performance tests have been conducted, as well as a subjective test demonstrating the impact of using groups. Our results show that the architecture can plan motion in real time for several thousands of characters.

Modeling and solving the rooted distance-constrained minimum spanning tree problem

In this paper we discuss models and methods for solving the rooted distance constrained minimum spanning tree problem which is defined as follows: given a graph G=(V,E)$G=(V,E)$ with node set V={0,1,…,n}$V=\{0,1,\dots ,n\}$ and edge set E$E$, two integer weights, a cost _ce$c_e$ and a delay _we$w_e$ associated with each edge e$e$ of E$E$, and a natural (time limit) number H$H$, we wish to find a spanning tree T$T$ of the graph with minimum total cost and such that the unique path from a specified root node, node 0, to any other node has total delay not greater than H$H$. This problem generalizes the well known hop-constrained spanning tree problem and arises in the design of centralized networks with quality of service constraints and also in package shipment with service guarantee constraints. We present three theoretically equivalent modeling approaches, a column generation scheme, a Lagrangian relaxation combined with subgradient optimization procedure, both based on a path formulation of the problem, and a shortest path (compact) reformulation of the problem which views the underlying subproblem as defined in a layered extended graph. We present results for complete graph instances with up to 40 nodes. Our results indicate that the layered graph path reformulation model is still quite good when the arc weights are reasonably small. Lagrangian relaxation combined with subgradient optimization procedure appears to work much better than column generation and seems to be a quite reasonable approach to the problem for large weight, and even small weight, instances.     

Single machine scheduling with simple linear deterioration to minimize total absolute deviation of completion times

We consider a single machine scheduling problem with simple linear deterioration. Job processing times are assumed to be a simple linear function of a job-dependent growth rate and the job's starting time. We seek an optimal schedule, so as to minimize the total absolute deviation of completion times (TADC). We prove several interesting properties of an optimal schedule, and introduce two efficient heuristics which are tested against a lower bound.     

Educational affordances of PDAs: A study of a teacher’s exploration of this technology

This paper reports on a case study of a teacher from a technical education institution who explored the educational affordances of PDA technology over a period of six months. Based on this teacher’s perspectives, the study was designed to inform our own understanding of educational affordances of this new and emerging technology. Understanding of educational affordances is important in the context of planning a suitable intervention to support pedagogically effective integration of PDA technology. The study explicated a set of five affordances of PDA technology: as a multimedia-access tool, connectivity tool, capture tool, representational tool and analytical tool. We call on further research to expand this set into a more comprehensive collage of educational affordances of PDA technology.     

Inductive transfer with context-sensitive neural networks

Context-sensitive Multiple Task Learning, or csMTL, is presented as a method of inductive transfer which uses a single output neural network and additional contextual inputs for learning multiple tasks. Motivated by problems with the application of MTL networks to machine lifelong learning systems, csMTL encoding of multiple task examples was developed and found to improve predictive performance. As evidence, the csMTL method is tested on seven task domains and shown to produce hypotheses for primary tasks that are often better than standard MTL hypotheses when learning in the presence of related and unrelated tasks. We argue that the reason for this performance improvement is a reduction in the number of effective free parameters in the csMTL network brought about by the shared output node and weight update constraints due to the context inputs. An examination of IDT and SVM models developed from csMTL encoded data provides initial evidence that this improvement is not shared across all machine learning models.     

Approximations and reducts with covering generalized rough sets

The covering generalized rough sets are an improvement of traditional rough set model to deal with more complex practical problems which the traditional one cannot handle. It is well known that any generalization of traditional rough set theory should first have practical applied background and two important theoretical issues must be addressed. The first one is to present reasonable definitions of set approximations, and the second one is to develop reasonable algorithms for attributes reduct. The existing covering generalized rough sets, however, mainly pay attention to constructing approximation operators. The ideas of constructing lower approximations are similar but the ideas of constructing upper approximations are different and they all seem to be unreasonable. Furthermore, less effort has been put on the discussion of the applied background and the attributes reduct of covering generalized rough sets. In this paper we concentrate our discussion on the above two issues. We first discuss the applied background of covering generalized rough sets by proposing three kinds of datasets which the traditional rough sets cannot handle and improve the definition of upper approximation for covering generalized rough sets to make it more reasonable than the existing ones. Then we study the attributes reduct with covering generalized rough sets and present an algorithm by using discernibility matrix to compute all the attributes reducts with covering generalized rough sets. With these discussions we can set up a basic foundation of the covering generalized rough set theory and broaden its applications.     

Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.     

Entwicklung Serviceorientierter Architekturen zur Integration von Produktion und Dienstleistung – Eine Konzeptionsmethode und ihre Anwendung am Beispiel des Recyclings elektronischer Geräte

Offering product-service bundles (consisting of products and services) is becoming more important for companies. Modifying the organizational structure of the cooperation as well as adapting to changing customer demands requires versatile information systems. Implementing Service Oriented Architectures (SOA) is one attempt to provide this flexibility. Currently, there is little methodical guidance for the identification, specification and implementation of services as building blocks of Service Oriented Architectures. Accounting for this need, a conceptual approach is designed, which adapts approaches of customer integration, and combines a business and IT analysis. The applicability of the method is demonstrated by designing a Service Oriented Architecture for the recycling of electronic equipment. Implementing services for other product-service bundles will support additional integration scenarios. By standardizing services, a sound integration of products and services can be backed by providing a reference architecture.     

Solders development and application process for a micro chip-camera

Nowadays, micro components have to fulfill rising optical requirements for different scientific and industrial fields like astronomy, medicine or multimedia. For this purpose, advanced miniaturized chip-cameras are produced for the microsystems engineering market. The assembly and joining technologies play a very important role in the production of these micro components. Several challenges are associated with the joining of chip-cameras. In this study, the application of the soldering technology has been considered in order to face these challenges. Two joining technologies have been investigated: active soldering and transient liquid phase (TLP) bonding. Both soldering processes have shown a big potential for hybrid microsystems joining in previous studies. For both processes, soldering alloys and parameters have been conceived in order to fulfill the joining requirements of the micro camera components. For instance, the joining temperature represents a major challenge because the chip-camera consists of a plastic material, polymethyl methacrylate (PMMA). Therefore, particular attention has been directed to the soldering as well as to the coating temperature. The experimental investigations concerning the solders application through physical vapor deposition (PVD) have been supported by finite element method (FEM) simulations. The analysis of  the temperature distribution in the micro components during the coating process was the focus of  the calculations. Possible undesirable local overheated areas of the chip-camera components can be detected through simulation.

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