Differential epipolar constraint in mobile robot egomotion estimation

The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given

Constraint satisfaction techniques under uncertain conditions for fault diagnosis in nonlinear dynamic systems

The speed of fault isolation is crucial for the design and reconfiguration of fault tolerant control (FTC). In this paper the fault isolation problem is stated as a constraint satisfaction problem (CSP) and solved using constraint propagation techniques. The proposed method is based on constraint satisfaction techniques and uncertainty space refining of interval parameters. In comparison with other approaches based on adaptive observers, the major advantage of the presented method is that the isolation speed is fast even taking into account uncertainty in parameters, measurements and model errors and without the monotonicity assumption. In order to illustrate the proposed approach, a case study of a nonlinear dynamic system is presented

Conformations of poly{G}-poly{C} π stacks with high hole mobility

Charge transfer properties of DNA depend strongly on the π stack conformation. In the present paper, we identify conformations of homogeneous poly-{G}-poly-{C} stacks that should exhibit high charge mobility. Two different computational approaches were applied. First, we calculated the electronic coupling squared, V2, between adjacent base pairs for all 1 ps snapshots extracted from 15 ns molecular dynamics trajectory of the duplex G15. The average value of the coupling squared 〈 V2 〉 is found to be 0.0065 eV2. Then we analyze the base-pair and step parameters of the configurations in which V2 is at least an order of magnitude larger than 〈 V2 〉. To obtain more consistent data, ∼65 000 configurations of the (G:C)2 stack were built using systematic screening of the step parameters shift, slide, and twist. We show that undertwisted structures (twist<20°) are of special interest, because the π stack conformations with strong electronic couplings are found for a wide range of slide and shift. Although effective hole transfer can also occur in configurations with twist=30° and 35°, large mutual displacements of neighboring base pairs are required for that. Overtwisted conformation (twist38°) seems to be of limited interest in the context of effective hole transfer. The results may be helpful in the search for DNA based elements for nanoelectronics

Quantified real constraint solving using modal intervals with applications to control

Les restriccions reals quantificades (QRC) formen un formalisme matemàtic utilitzat per modelar un gran nombre de problemes físics dins els quals intervenen sistemes d'equacions no-lineals sobre variables reals, algunes de les quals podent ésser quantificades. Els QRCs apareixen en nombrosos contextos, com l'Enginyeria de Control o la Biologia. La resolució de QRCs és un domini de recerca molt actiu dins el qual es proposen dos enfocaments diferents: l'eliminació simbòlica de quantificadors i els mètodes aproximatius. Tot i això, la resolució de problemes de grans dimensions i del cas general, resten encara problemes oberts. Aquesta tesi proposa una nova metodologia aproximativa basada en l'Anàlisi Intervalar Modal, una teoria matemàtica que permet resoldre problemes en els quals intervenen quantificadors lògics sobre variables reals. Finalment, dues aplicacions a l'Enginyeria de Control són presentades. La primera fa referència al problema de detecció de fallades i la segona consisteix en un controlador per a un vaixell a vela.