Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Path relinking for the fixed spectrum frequency assignment problem

International audience

A hybrid heuristic for the multi-plant capacitated lot sizing problem with setup carry-over

This paper addresses the capacitated lot sizing problem (CLSP) with a single stage composed of multiple plants, items and periods with setup carry-over among the periods. The CLSP is well studied and many heuristics have been proposed to solve it. Nevertheless, few researches explored the multi-plant capacitated lot sizing problem (MPCLSP), which means that few solution methods were proposed to solve it. Furthermore, to our knowledge, no study of the MPCLSP with setup carry-over was found in the literature. This paper presents a mathematical model and a GRASP (Greedy Randomized Adaptive Search Procedure) with path relinking to the MPCLSP with setup carry-over. This solution method is an extension and adaptation of a previously adopted methodology without the setup carry-over. Computational tests showed that the improvement of the setup carry-over is significant in terms of the solution value with a low increase in computational time.

Simulated annealing with adaptive neighborhood: A case study in off-line robot path planning

Simulated annealing (SA) is an optimization technique that can process cost functions with degrees of nonlinearities, discontinuities and stochasticity. It can process arbitrary boundary conditions and constraints imposed on these cost functions. The SA technique is applied to the problem of robot path planning. Three situations are considered here: the path is represented as a polyline; as a Bezier curve; and as a spline interpolated curve. In the proposed SA algorithm, the sensitivity of each continuous parameter is evaluated at each iteration increasing the number of accepted solutions. The sensitivity of each parameter is associated to its probability distribution in the definition of the next candidate. (C) 2010 Elsevier Ltd. All rights reserved.

The Alcohol Helplessness Scale and its prediction of depression among problem drinkers

Event-specific scales commonly have greater power than generalized scales in prediction of specific disorders and in testing mediator models for predicting such disorders. Therefore, in a preliminary study, a 6-item Alcohol Helplessness Scale was constructed and found to be reliable for a sample of 98 problem drinkers. Hierarchical multiple regression and its derivative path analysis were used to test whether helplessness and self-efficacy moderate or mediate the link between alcohol dependence and depression, A test of a moderation model was not supported, whereas a test of a mediation model was supported. Helplessness and self-efficacy both significantly and independently mediated between alcohol dependence and depression. Nevertheless, a significant direct effect of alcohol dependence on depression also remained, (C) 2001 John Wiley & Sons, Inc.

Modeling assembly program with constraints. A contribution to WCET problem

Dissertação para obtenção do Grau de Mestre em Lógica Computacional

A test of Jessor's problem behavior theory in a Eurasian and a Western European developmental context.

PURPOSE: The current study tested the applicability of Jessor's problem behavior theory (PBT) in national probability samples from Georgia and Switzerland. Comparisons focused on (1) the applicability of the problem behavior syndrome (PBS) in both developmental contexts, and (2) on the applicability of employing a set of theory-driven risk and protective factors in the prediction of problem behaviors. METHODS: School-based questionnaire data were collected from n = 18,239 adolescents in Georgia (n = 9499) and Switzerland (n = 8740) following the same protocol. Participants rated five measures of problem behaviors (alcohol and drug use, problems because of alcohol and drug use, and deviance), three risk factors (future uncertainty, depression, and stress), and three protective factors (family, peer, and school attachment). Final study samples included n = 9043 Georgian youth (mean age = 15.57; 58.8% females) and n = 8348 Swiss youth (mean age = 17.95; 48.5% females). Data analyses were completed using structural equation modeling, path analyses, and post hoc z-tests for comparisons of regression coefficients. RESULTS: Findings indicated that the PBS replicated in both samples, and that theory-driven risk and protective factors accounted for 13% and 10% in Georgian and Swiss samples, respectively in the PBS, net the effects by demographic variables. Follow-up z-tests provided evidence of some differences in the magnitude, but not direction, in five of six individual paths by country. CONCLUSION: PBT and the PBS find empirical support in these Eurasian and Western European samples; thus, Jessor's theory holds value and promise in understanding the etiology of adolescent problem behaviors outside of the United States.

A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works

Motivational model of problem drinking for men and women /

This thesis tested a path model of the relationships of reasons for drinking and reasons for limiting drinking with consumption of alcohol and drinking problems. It was hypothesized that reasons for drinking would be composed of positively and negatively reinforcing reasons, and that reasons for limiting drinking would be composed of personal and social reasons. Problem drinking was operationalized as consisting of two factors, consumption and drinking problems, with a positive relationship between the two. It was predicted that positively and negatively reinforcing reasons for drinking would be associated with heavier consumption and, in turn, more drinking problems, through level of consumption. Negatively reinforcing reasons were also predicted to be associated with drinking problems directly, independent of level of consumption. It was hypothesized that reasons for limiting drinking would be associated with lower levels of consumption and would be related to fewer drinking problems, through level of consumption. Finally, among women, reasons for limiting drinking were expected to be associated with drinking problems directly, independent of level of consumption. The sample, was taken from the second phase of the Niagara Young Aduh Health Study, a community sample of young adult men and women. Measurement models of reasons for drinking, reasons for limiting drinking, and problem drinking were tested using Confirmatory Factor Analysis. After adequate fit of each measurement model was obtained, the complete structural model, with all hypothesized paths, was tested for goodness of fit. Cross-group equality constraints were imposed on all models to test for gender differences. The results provided evidence supporting the hypothesized structure of reasons for drinking and problem drinking. A single factor model of reasons for limiting drinking was used in the analyses because a two-factor model was inadequate. Support was obtained for the structural model. For example, the resuhs revealed independent influences of Positively Reinforcing Reasons for Drinking, Negatively Reinforcing Reasons for Drinking, and Reasons for Limiting Drinking on consumption. In addition. Negatively Reinforcing Reasons helped to account for Drinking Problems independent of the amount of alcohol consumed. Although an additional path from Reasons for Limiting Drinking to Drinking Problems was hypothesized for women, it was of marginal significance and did not improve the model's fit. As a result, no sex differences in the model were found. This may be a result of the convergence of drinking patterns for men and women. Furthermore, it is suggested that gender differences may only be found in clinical samples of problem drinkers, where the relative level of consumption for women and men is similar.

Attachment and alcohol : testing a motivational model of problem drinking /

The purpose of this study was to replicate and extend a motivational model of problem drinking (Cooper, Frone, Russel, & Mudar, 1995; Read, Wood, Kahler, Maddock & Tibor, 2003), testing the notion that attachment is a common antecedent for both the affective and social paths to problem drinking. The model was tested with data from three samples, first-year university students (N=679), students about to graduate from university (N=206), and first-time clients at an addiction treatment facility (N=21 1). Participants completed a battery of questionnaires assessing alcohol use, alcohol-related consequences, drinking motives, peer models of alcohol use, positive and negative affect, attachment anxiety and attachment avoidance. Results underscored the importance of the affective path to problem drinking, while putting the social path to problem drinking into question. While drinking to cope was most prominent among the clinical sample, coping motives served as a risk factor for problem drinking for both individuals identified as problem drinkers and university students. Moreover, drinking for enhancement purposes appeared to be the strongest overall predictor of alcohol use. Results of the present study also supported the notion that attachment anxiety and avoidance are antecedents for the affective path to problem drinking, such that those with higher levels of attachment anxiety and avoidance were more vulnerable to experiencing adverse consequences related to their drinking, explained in terms of diminished affect regulation. Evidence that nonsecure attachment is a potent predictor of problem drinking was also demonstrated by the finding that attachment anxiety was directly related to alcohol-related consequences over and above its indirect relationship through affect regulation. However, results failed to show that attachment anxiety or attachment avoidance increased the risk of problem drinking via social influence.

Tarification logit dans un réseau

Le problème de tarification qui nous intéresse ici consiste à maximiser le revenu généré par les usagers d'un réseau de transport. Pour se rendre à leurs destinations, les usagers font un choix de route et utilisent des arcs sur lesquels nous imposons des tarifs. Chaque route est caractérisée (aux yeux de l'usager) par sa "désutilité", une mesure de longueur généralisée tenant compte à la fois des tarifs et des autres coûts associés à son utilisation. Ce problème a surtout été abordé sous une modélisation déterministe de la demande selon laquelle seules des routes de désutilité minimale se voient attribuer une mesure positive de flot. Le modèle déterministe se prête bien à une résolution globale, mais pèche par manque de réalisme. Nous considérons ici une extension probabiliste de ce modèle, selon laquelle les usagers d'un réseau sont alloués aux routes d'après un modèle de choix discret logit. Bien que le problème de tarification qui en résulte est non linéaire et non convexe, il conserve néanmoins une forte composante combinatoire que nous exploitons à des fins algorithmiques. Notre contribution se répartit en trois articles. Dans le premier, nous abordons le problème d'un point de vue théorique pour le cas avec une paire origine-destination. Nous développons une analyse de premier ordre qui exploite les propriétés analytiques de l'affectation logit et démontrons la validité de règles de simplification de la topologie du réseau qui permettent de réduire la dimension du problème sans en modifier la solution. Nous établissons ensuite l'unimodalité du problème pour une vaste gamme de topologies et nous généralisons certains de nos résultats au problème de la tarification d'une ligne de produits. Dans le deuxième article, nous abordons le problème d'un point de vue numérique pour le cas avec plusieurs paires origine-destination. Nous développons des algorithmes qui exploitent l'information locale et la parenté des formulations probabilistes et déterministes. Un des résultats de notre analyse est l'obtention de bornes sur l'erreur commise par les modèles combinatoires dans l'approximation du revenu logit. Nos essais numériques montrent qu'une approximation combinatoire rudimentaire permet souvent d'identifier des solutions quasi-optimales. Dans le troisième article, nous considérons l'extension du problème à une demande hétérogène. L'affectation de la demande y est donnée par un modèle de choix discret logit mixte où la sensibilité au prix d'un usager est aléatoire. Sous cette modélisation, l'expression du revenu n'est pas analytique et ne peut être évaluée de façon exacte. Cependant, nous démontrons que l'utilisation d'approximations non linéaires et combinatoires permet d'identifier des solutions quasi-optimales. Finalement, nous en profitons pour illustrer la richesse du modèle, par le biais d'une interprétation économique, et examinons plus particulièrement la contribution au revenu des différents groupes d'usagers.

Martin Heidegger and the problem of transcendence

Cette thèse a pour point de départ l’idée du jeune Heidegger selon laquelle le sens de l’être doit être recherché au moyen d’une phénoménologie ontologique, plus précisément par l’analytique existentiale du Dasein et la destruction de l’histoire de l’ontologie ; ou, comme nous l’interprétons, dans la transcendance du Dasein et la transcendance de l’être. L’étude du problème de la transcendance fait l’objet d’une approche phénoménologique, laquelle porte une attention particulière au vécu en tant que tel ainsi qu’aux conditions de possibilité de ce vécu, et repose sur une lecture attentive et critique des œuvres de Heidegger. C’est une telle approche phénoménologique qui nous permettra de mener à bien notre analyse du problème de la transcendance dans le corpus heideggérien. Nous serons par ailleurs en mesure d’aborder le débat opposant à ce sujet la tradition analytique (plus particulièrement l’approche pragmatiste) et la tradition continentale, notre étude s’inscrivant dans le cadre de cette dernière. Nous proposons ici une phénoménologie du problème de la transcendance qui fait également figure de phénoménologie du sens, de la possibilité et de la normativité. Prenant pour point de départ certaines contributions issues de la tradition continentale, nous soutenons que le sens de l’être peut être compris comme le problème de la transcendance. L’histoire de la philosophie doit être perturbée, déconstruite et repensée afin que le chemin de la philosophie, encore non pensé, puisse être mis au jour. L’accès à cet autre commencement doit être recherché dans la transcendance en tant que telle – de l’appel de la conscience fondé dans la nullité à l’encontre authentique avec la mort et l’ouverture de la temporalité ; de l’avènement historial de l’être jusqu’à, ultimement, le i! ! ! ! refus de l’être et le retrait du rien. L’événement (Ereignis) de l’être est donc compris comme processus de dépassement de soi à partir duquel la transcendance de l’être – ou, comme le formule Heidegger, la fin des questions – est possible.