Evaluating alternative gait strategies using evolutionary robotics

Evolutionary robitics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robit is predefined an various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requiements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance paramets such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictoins for modern humans are highly accurate in terms of energy cost for a given speend and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human=like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids

Extracting reusable document components for variable data printing

Variable Data Printing (VDP) has brought new flexibility and dynamism to the printed page. Each printed instance of a specific class of document can now have different degrees of customized content within the document template. This flexibility comes at a cost. If every printed page is potentially different from all others it must be rasterized separately, which is a time-consuming process. Technologies such as PPML (Personalized Print Markup Language) attempt to address this problem by dividing the bitmapped page into components that can be cached at the raster level, thereby speeding up the generation of page instances. A large number of documents are stored in Page Description Languages at a higher level of abstraction than the bitmapped page. Much of this content could be reused within a VDP environment provided that separable document components can be identified and extracted. These components then need to be individually rasterisable so that each high-level component can be related to its low-level (bitmap) equivalent. Unfortunately, the unstructured nature of most Page Description Languages makes it difficult to extract content easily. This paper outlines the problems encountered in extracting component-based content from existing page description formats, such as PostScript, PDF and SVG, and how the differences between the formats affects the ease with which content can be extracted. The techniques are illustrated with reference to a tool called COG Extractor, which extracts content from PDF and SVG and prepares it for reuse.