WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Estrategias para la gestión del workflow administrativo en entornos GRID : Integración con JPPF

Estudio de estrategias sobre la utilización de un GRID para realizar la gestión administrativa y la puesta en marcha de localizaciones remotas para la colaboración en este tipo de tareas.

Segmentation and grid generation for numerical simulations of vad connections with patient-specific data

Objectives: We are interested in the numerical simulation of the anastomotic region comprised between outflow canula of LVAD and the aorta. Segmenta¬tion, geometry reconstruction and grid generation from patient-specific data remain an issue because of the variable quality of DICOM images, in particular CT-scan (e.g. metallic noise of the device, non-aortic contrast phase). We pro¬pose a general framework to overcome this problem and create suitable grids for numerical simulations.Methods: Preliminary treatment of images is performed by reducing the level window and enhancing the contrast of the greyscale image using contrast-limited adaptive histogram equalization. A gradient anisotropic diffusion filter is applied to reduce the noise. Then, watershed segmentation algorithms and mathematical morphology filters allow reconstructing the patient geometry. This is done using the InsightToolKit library (www.itk.org). Finally the Vascular Model¬ing ToolKit (www.vmtk.org) and gmsh (www.geuz.org/gmsh) are used to create the meshes for the fluid (blood) and structure (arterial wall, outflow canula) and to a priori identify the boundary layers. The method is tested on five different patients with left ventricular assistance and who underwent a CT-scan exam.Results: This method produced good results in four patients. The anastomosis area is recovered and the generated grids are suitable for numerical simulations. In one patient the method failed to produce a good segmentation because of the small dimension of the aortic arch with respect to the image resolution.Conclusions: The described framework allows the use of data that could not be otherwise segmented by standard automatic segmentation tools. In particular the computational grids that have been generated are suitable for simulations that take into account fluid-structure interactions. Finally the presented method features a good reproducibility and fast application.

gcodeml: A Grid-enabled Tool for Detecting Positive Selection in Biological Evolution

One of the important questions in biological evolution is to know if certain changes along protein coding genes have contributed to the adaptation of species. This problem is known to be biologically complex and computationally very expensive. It, therefore, requires efficient Grid or cluster solutions to overcome the computational challenge. We have developed a Grid-enabled tool (gcodeml) that relies on the PAML (codeml) package to help analyse large phylogenetic datasets on both Grids and computational clusters. Although we report on results for gcodeml, our approach is applicable and customisable to related problems in biology or other scientific domains.

Towards reusability and tailorability in collaborative learning systems using IMS-LD and grid services

CSCL applications are complex distributed systems that posespecial requirements towards achieving success in educationalsettings. Flexible and efficient design of collaborative activitiesby educators is a key precondition in order to provide CSCL tailorable systems, capable of adapting to the needs of eachparticular learning environment. Furthermore, some parts ofthose CSCL systems should be reused as often as possible inorder to reduce development costs. In addition, it may be necessary to employ special hardware devices, computational resources that reside in other organizations, or even exceed thepossibilities of one specific organization. Therefore, theproposal of this paper is twofold: collecting collaborativelearning designs (scripting) provided by educators, based onwell-known best practices (collaborative learning flow patterns) in a standard way (IMS-LD) in order to guide the tailoring of CSCL systems by selecting and integrating reusable CSCL software units; and, implementing those units in the form of grid services offered by third party providers. More specifically, this paper outlines a grid-based CSCL system having these features and illustrates its potential scope and applicability by means of a sample collaborative learning scenario.

Two component Emden sphere

The theory of a self-gravitating gas sphere is given. The gravitational field is generated by two components, each of which is an independent isothermal gas. Various quantities of interest, such as density profiles, core radii of both components, masses, free-free luminosity, surface brightness, central surface density, and overestimate of central mass density, are given for different values of both parameters which arise naturally (ratio of central densities, ratio of rms velocities). Fundamental changes appear when comparison is made with a theory in which the second component is a 'test component'. Procedures are given for the complete analysis of real astrophysical configurations such as clusters of galaxies or globular clusters.

Business Sphere, Vol. 17, no.3

Through networking, Iowa’s manufacturers share expertise in lean manufacturing, supply chain efficiency and rapid prototyping, strengthening the powerful environment for success. The Iowa Department of Economic Development builds on these strengths with a focus on advanced manufacturing, extending financial and tax benefits to companies making substantial investments and creating higher skill, higher paying jobs. Many companies these days are finding that it pays to explore options in Iowa as they plan manufacturing expansions. You can get in touch with us at www.iowalifechanging.com.

Business Sphere, Vol. 17, no.2

Anadvanced foods economy is under development in the state of Iowa that builds on Iowa’s established strengths in plant and animal sciences,production agriculture, food science, nutrition, and processing technology. This new pathway was identified when Battelle Institute studied Iowa’s strengths in the biosciences and recommended six technology platforms as opportunities to use these strengths for growing the economy. One of those technology platforms is functional foods, sometimes called nutraceuticals.

Business Sphere, Vol. 17, no.1

Iowa first in ethanol Iowa is now the largest ethanol-producing state in America, according to the Iowa Corn Promotion Board, with 864 million gallons of production capacity. Fourteen facilities now produce ethanol in Iowa, and nine more plants are planned or under construction. This burgeoning renewable fuels industry continues to spread through the state of Iowa.

Business Sphere, Vol. 18, no.2

The biosciences industry significantly impacts Iowa’s economy. Kemin, Integrated DNA Technologies, Archer Daniels Midland Co., Roquette America, Cargill, Monsanto and DuPont’s Pioneer Hi-Bred International are only a few of Iowa’s 1,800 bioscience companies employing more than 83,000 people. Everyday, Kemin and other Iowa life sciences companies seek to commercialize new bioscience innovations. Together with Iowa’s outstanding business climate, a skilled, well educated and adaptable workforce, and an enviable quality of life, Iowa is providing bioscience companies with an exciting new resource to assist us in our endeavors: The Biosciences Alliance of Iowa.

Business Sphere, Vol. 21, no.4

Iowans have long been proud of our educational heritage. With I-VREP, business and educational leaders are taking steps to enhance its world-class education for Iowans, while ensuring the qualified workforce needed by Iowa’s businesses competing in a global economy. For more information on the Iowa Virtual Reality Education Pathfinder, or a confidential consultation on how Iowa innovation can fuel your company’s growth, contact IDED at 800.245.IOWA or visit iowalifechanging.com

Business Sphere, Vol. 18, no.4

As the nation’s leading producer of ethanol and biodiesel, Iowa is building upon its national reputation as an innovative renewable fuel and energy leader by aggressively pursuing more wind energy production. We invite you to take a closer look at Iowa as we harness the winds of renewable energy

Business Sphere, Vol. 19, no.4

We keep in touch with insurance leaders throughout the nation, as well as in our state, to promote Iowa as one of the most competitive locations for insurance operations. These ongoing efforts have produced strong growth that is the envy of other states. The insurance industry in the state of Iowa is expanding for all the right reasons. With the support of the State of Iowa, domestic insurers and the insurance division, the environment is favorable for companies looking for a competitive location in the U.S. insurance market.