Insect inspired behaviours for the autonomous control of mobile robots

Animals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile environments. Through both simulation and real-world experiments, we demonstrate the feasibility of equipping a mobile robot with the ability to navigate a corridor environment, in real time, using principles based on insect-based visual guidance. In particular we have used the bees’ navigational strategy of measuring object range in terms of image velocity. We have also shown the viability and usefulness of various other insect behaviours: (i) keeping walls equidistant, (ii) slowing down when approaching an object, (iii) regulating speed according to tunnel width, and (iv) using visual motion as a measure of distance travelled.

Multichannel biomedical time series clustering via hierarchical probabilistic latent semantic analysis

Biomedical time series clustering that automatically groups a collection of time series according to their internal similarity is of importance for medical record management and inspection such as bio-signals archiving and retrieval. In this paper, a novel framework that automatically groups a set of unlabelled multichannel biomedical time series according to their internal structural similarity is proposed. Specifically, we treat a multichannel biomedical time series as a document and extract local segments from the time series as words. We extend a topic model, i.e., the Hierarchical probabilistic Latent Semantic Analysis (H-pLSA), which was originally developed for visual motion analysis to cluster a set of unlabelled multichannel time series. The H-pLSA models each channel of the multichannel time series using a local pLSA in the first layer. The topics learned in the local pLSA are then fed to a global pLSA in the second layer to discover the categories of multichannel time series. Experiments on a dataset extracted from multichannel Electrocardiography (ECG) signals demonstrate that the proposed method performs better than previous state-of-the-art approaches and is relatively robust to the variations of parameters including length of local segments and dictionary size. Although the experimental evaluation used the multichannel ECG signals in a biometric scenario, the proposed algorithm is a universal framework for multichannel biomedical time series clustering according to their structural similarity, which has many applications in biomedical time series management.

Local energy and pre-envelope

We observe that the local energy is the pre-envelope for analytic function. The maxima and phase of this function can be used to compute and classify visual features such as motion and stereo disparity, texture, etc. We examine the construction of new filters for computing Local Energy, and compare these filters with the Gabor filters and the three-point-filter of Venkatesh and Owens.

On the perceived location of global motion

We measured the effects of coherent motion of one set of dots on the perceived location of Gaussian envelopes formed by luminance modulation of a second set of dots. Perceived shifts in envelope location in the direction of coherent motion were obtained even when the dots forming the envelopes did not physically move in the direction of coherent motion. In such cases, perceived shifts coincided with stimulus configurations that permitted motion integration of the envelope dots with the coherently moving dots, for example, when envelope dots moved in random directions as opposed to being static. In subsequent experiments we explored the type of motion integration underlying the positional shifts obtained. We discounted the possibility that the visual system incorrectly attributes motion signals associated with coherently moving dots to envelope dots by demonstrating that positional shifts could be obtained even when the coherent dots were laterally displaced to either side of the envelope dots such that the regions occupied by the dots did not overlap. We also discounted spatio-temporal summation within the receptive fields of low-spatial-frequency motion-sensitive mechanisms by demonstrating that positional shifts persisted even when the dot displays were high-pass filtered. These results, coupled with the observation that the proportion of coherently moving dots required to produce positional shifts correlated well with global motion thresholds measured for the same dot configurations, suggests that visual processes which underlie motion-dependent positional shifts are based at least in part on cooperative interactions of the type implicated in global motion.

Modelling yarn balloon motion in ring spinning

Air-drag on a ballooning yarn and balloon shape affect the yarn tension and ends-down (yarn breakage), which in turn affects energy consumption and yarn productivity in ring spinning. In this article, a mathematical model of yarn ballooning motion in ring spinning is established. The model can be used to generate balloon shape and predict tension in the ballooning yarn under given spinning conditions. Yarn tension was measured using a computer data acquisition system and the balloon shapes were captured using a digital camera with video capability during the experiments using cotton and wool yarns at various balloon-heights and with varying yarn-length in the balloon. The air-drag coefficients on ballooning cotton and wool yarns in ring spinning were estimated by making a “best fit” between the theoretical and experimental turning points. The theoretical results were verified with experimental data. The effects of air-drag and balloon shape on yarn tension are discussed.

Biomass and energy transfer to baleen whales in the South Atlantic sector of the Southern Ocean

Baleen whales are an important group of predators on Antarctic krill in the Southern Ocean. During the CCAMLR 2000 Survey to estimate the biomass and distribution of Antarctic krill, International Whaling Commission observers carried out a visual line transect survey to estimate the number of baleen whales occurring in the survey area. This paper reviews techniques used to estimate krill consumption by baleen whales and in combination with estimates of whale abundance estimates of krill consumption are generated for the South Atlantic sector of the Southern Ocean. This survey estimates that the present populations of whales feeding in this region are likely to consume approximately 1.6 million tonnes, but possibly up to as much as 2.7 million tonnes of krill within the summer season. Although this only represents 4–6% of the estimated krill biomass in the region (and probably less than this percentage of the total annual krill production), the depleted numbers of baleen whales resulting from past or current whaling activities should be taken into account when setting quotas for the commercial exploitation of krill if there is to be a recovery to pre-exploitation biomass levels of baleen whales.

Translating text into motion : performance analysis for singers and directors

The study proposes a method of interpretation, which gives the contemporary singer-actor and director a method of performance analysis considering both the visual and the auditory aspects of vocal performance. The analysis begins with an analysis of the structure, which maps out the key ideas and translates them into main states of mind. The text analysis is followed by an analysis of the musical treatment of the text, also scanning for extra dramatic meaning inherent in vocal line and musical accompaniment. The so isolated dramatic ideas in text and musical structure and content are finally discussed in terms of their physical aspects, using the system of gesture as practiced by actors and singers before, during and beyond the Baroque period. The method is exemplified by the obbligato recitative "In quali eccessi" from Donna Elvira’s scene in the second act of the opera "Don Giovanni" by L. Da Ponte and W. A. Mozart. The musical example includes gestural notation and a table gestural notation symbols.

Machine to die for: the quest for free energy

This is about the search for 'perpetual motion' and 'free energy'. Conventional science claims that it is impossible, yet generations of inventors have been mesmerised by the promise of an engine that powers itself. The world's reliance on diminishing fossil fuel resources and the associated problems of pollution serve to spur them on. It showcases a number of dedicated, sometimes eccentric, and always obsessive individuals who have devoted their lives to this quest.

3D virtual haptic cone for intuitive vehicle motion control

Haptic technology provides the ability for a system to recreate the sense of touch to a human operator, and as such offers wide reaching advantages. The ability to interact with the human's tactual modality introduces haptic human-machine interaction to replace or augment existing mediums such as visual and audible information. A distinct advantage of haptic human-machine interaction is the intrinsic bilateral nature, where information can be communicated in both directions simultaneously. This paper investigates the bilateral nature of the haptic interface in controlling the motion of a remote (or virtual) vehicle and presents the ability to provide an additional dimension of haptic information to the user over existing approaches [1-4]. The 3D virtual haptic cone offers the ability to not only provide the user with relevant haptic augmentation pertaining to the task at hand, as do existing approaches, however, to also simultaneously provide an intuitive indication of the current velocities being commanded.

The roles of object-image relative motion and static depth information in the perception of heading

Investigates visual information that enables human to effectively guide their movement through the environment. This problem is fundamental to the study of human behaviour, since survival is contingent upon the acquisition of resources that lie in different locations throughout the environment.

Evaluation of thermal and visual comfort in offices considering realistic input data and user behaviour in building simulation

Thermal and visual comfort play a very important role regarding the satisfaction of occupants with their working environments. The most effective method to achieve thermal comfort in offices is to reduce cooling loads in order to avoid additional energy-consuming devices for cooling. Building simulation software can be a helpful tool for optimisation, and typically standard values for the influencing parameters are used in order to ensure compliance to norms and regulations.

In practice many of those parameters turn out to be different compared to the simulation assumptions and the reasons may be the chosen room or building related properties as well as the user behaviour influenced by the task and the corporate culture of the company.

This paper investigates exemplary for the climate of Hamburg, Germany and a naturally ventilated typical office room, the optimisation potential of the building- and user-related parameters for thermal comfort, daylighting and view when using realistic input data for building simulation. The study has been conducted with the EnergyPlus based simulation software “Primero-Komfort” [1].

Context dependency of comfort and energy performance in mixed mode offices

This article investigates the context dependency of comfort and energy performance in mixed-mode offices in the climate of Athens, Greece. It is based on a parametric study using the simulation software EnergyPlus. Context refers to different building design priorities on the real estate market (prestige, low cost and green), occupant behaviour scenarios (ideal and worst case) and cooling strategies (fixed and adaptive set points). Results are evaluated according to energy consumption and related greenhouse gas emissions, daylight autonomy, view and percentage of working time when heating and cooling are operating. The results indicate that a holistic approach to comfort and energy performance evaluation focused on the specific context of a building and its occupants is necessary to develop appropriate optimization strategies. In early design stages, such specific information is not yet available and ideal/worst-case scenarios can indicate the magnitude of influence of occupants compared to building design.

A simple motion heuristic for controlling mobile sinks in delay tolerant sensor networks

Optimising energy consumption in wireless sensor networks is of dominant importance. Sink mobility is introduced to deal with this problem by approaching the sensor nodes and collecting their data buffers using the less energy demanding single-hop communication. The sink route is very crucial for the data collection operation performed in the network especially when the collection requests generated by the sensors are revealed dynamically to the sink and not known ahead. This paper presents a practical motion heuristic for constructing the sink route based on the dynamic arrival of the collection requests. Three control schemes are proposed for coordinating the interaction of multiple mobile sinks collectively performing the data collection in the network. The main objective is maximising the data collected by each mobile sink while minimising the sleeping time of each sensor awaiting the collection service. Simulation results show the performance of the mobile sinks under the proposed control schemes and the impact of the motion heuristic on the sensors' sleeping time in the network.

Local energy, the pre-envelope, and filter resolution

We examine the construction of new filters for computing local energy, and compare these filters with the Gabor filters and the three-point-filter of Venkatesh [l]. Further, we demonstrate that the effect of convolution with complex Gabor filters is to band-pass (with some differentiating effect) and compute the local energy of the result. The magnitude of the resulting local energy is then used to detect features [2], [3] (step features, texture etc.), and the phase is used to classify the detected features [l], [4] or provide disparity information for stereo [5] and motion work [6], [7]. Each of these types of information can be obtained at multiple resolutions, enabling the use of course to fine strategies for computing disparity, and allowing the discrimination of image textures on the basis of which parts of the Fourier domain they dominate [8], [9].