Controlling steering and judging heading: retinal flow, visual direction, and extraretinal information

The contribution of retinal flow (RF), extraretinal (ER), and egocentric visual direction (VD) information in locomotor control was explored. First, the recovery of heading from RF was examined when ER information was manipulated; results confirmed that ER signals affect heading judgments. Then the task was translated to steering curved paths, and the availability and veracity of VD were manipulated with either degraded or systematically biased RE Large steering errors resulted from selective manipulation of RF and VD, providing strong evidence for the combination of RF, ER, and VD. The relative weighting applied to RF and VD was estimated. A point-attractor model is proposed that combines redundant sources of information for robust locomotor control with flexible trajectory planning through active gaze.

Results of applying sensor fusion to a control system using optic flow

The results from applying a sensor fusion process to an adaptive controller used to balance all inverted pendulum axe presented. The goal of the sensor fusion process was to replace some of the four mechanical measurements, which are known to be sufficient inputs for a linear state feedback controller to balance the system, with optic flow variables. Results from research into the psychology of the sense of balance in humans were the motivation for the investigation of this new type of controller input. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described. The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training till-le for the adaptive controller and reduced performance (measured as the time the pendulum remains upright)

Investigation into the performance of an algorithm for deriving concise descriptions of optic flow fields for real-time control

This paper describes a region-based algorithm for deriving a concise description of a first order optical flow field. The algorithm described achieves performance improvements over existing algorithms without compromising the accuracy of the flow field values calculated. These improvements are brought about by not computing the entire flow field between two consecutive images, but by considering only the flow vectors of a selected subset of the images. The algorithm is presented in the context of a project to balance a bipedal robot using visual information.

A policy model for secure information flow

When a computer program requires legitimate access to confidential data, the question arises whether such a program may illegally reveal sensitive information. This paper proposes a policy model to specify what information flow is permitted in a computational system. The security definition, which is based on a general notion of information lattices, allows various representations of information to be used in the enforcement of secure information flow in deterministic or nondeterministic systems. A flexible semantics-based analysis technique is presented, which uses the input-output relational model induced by an attacker's observational power, to compute the information released by the computational system. An illustrative attacker model demonstrates the use of the technique to develop a termination-sensitive analysis. The technique allows the development of various information flow analyses, parametrised by the attacker's observational power, which can be used to enforce what declassification policies.

An algorithm for isentropic flow

An efficient algorithm is presented for the solution of the equations of isentropic gas dynamics with a general convex gas law. The scheme is based on solving linearized Riemann problems approximately, and in more than one dimension incorporates operator splitting. In particular, only two function evaluations in each computational cell are required. The scheme is applied to a standard test problem in gas dynamics for a polytropic gas

An efficient shock capturing scheme for the pseudo-unsteady equations representing steady inviscid flow

An efficient algorithm is presented for the solution of the steady Euler equations of gas dynamics. The scheme is based on solving linearised Riemann problems approximately and in more than one dimension incorporates operator splitting. The scheme is applied to a standard test problem of flow down a channel containing a circular arc bump for three different mesh sizes.

A non-uniform mesh scheme for compressible flow

A non-uniform mesh scheme is presented for the computation of compressible flows governed by the Euler equations of gas dynamics. The scheme is based on flux-difference splitting and represents an extension of a similar scheme designed for uniform meshes. The numerical results demonstrate that little, if any, spurious oscillation occurs as a result of the non-uniformity of the mesh; and importantly, shock speeds are computed correctly.

Shallow water flow with cylindrical symmetry

A numerical scheme is presented tor the solution of the shallow water equations in a single radial coordinate. This can prove useful when testing codes for the two-dimensional shallow water equations. The scheme is applied with success to problems involving converging and diverging bores.

A shock capturing scheme for steady, supercritical, free-surface flow

Abstract A finite difference scheme is presented for the solution of the two-dimensional shallow water equations in steady, supercritical flow. The scheme incorporates numerical characteristic decomposition, is shock capturing by design and incorporates space-marching as a result of the assumption that the flow is wholly supercritical in at least one space dimension. Results are shown for problems involving oblique hydraulic jumps and reflection from a wall.

A Riemann solver for compressible flow of a real gas in a Lagrangian frame

An approximate Riemann solver is presented for the compressible flow equations with a general (convex) equation of state in a Lagrangian frame of reference.