Formation control of multiple mobile robots using parametric and implicit representations

Coordination of autonomous robot groups is an active research area and much recent work has focused on modeling and control issues related to coordination. Robot groups can coordinate in many different ways. Some robot groups may execute coordination in which group members move in a scattered manner like the bees of a beehive or coordination of the group may require a more strict formation like the swallows. The shape formation is very important for the coordination of autonomous mobile robot groups because it increases the capability of a robot group by increasing the competence and the security of the group. The shape formation is applicable in many tasks like formation flight, flocking and schooling, transportation systems, searchand- rescue operations, competitive games, reconnaissance and surveillance. This thesis develops a flexible shape formation control method for autonomous mobile robots. There are different approaches in the literature for shape formation of mobile robots. Proposed method is different from these existing approaches by being applicable to complex formation curves as well as different number of robots and heterogeneous groups. It consists of two phases. In the first phase, shape formation is controlled by using potential fields generated from implicit polynomial representations and in the second phase, the control for keeping the desired shape is designed using elliptical Fourier descriptors. In this shape formation method, coordination between the robots is modeled using virtual linear springs between each robot and its nearest two neighbors. The success of the proposed method is shown through simulations on groups of different numbers of point-particle robots. Proposed method is then extended to non-holonomic mobile robots by using the desired positions in point particle model as references for the non-holonomic robots. The method is also implemented with real non-holonomic robots with a bird-eye-view camera

Uniscale and multiscale gait recognition in realistic scenario

The performance of a gait recognition method is affected by numerous challenging factors that degrade its reliability as a behavioural biometrics for subject identification in realistic scenario. Thus for effective visual surveillance, this thesis presents five gait recog- nition methods that address various challenging factors to reliably identify a subject in realistic scenario with low computational complexity. It presents a gait recognition method that analyses spatio-temporal motion of a subject with statistical and physical parameters using Procrustes shape analysis and elliptic Fourier descriptors (EFD). It introduces a part- based EFD analysis to achieve invariance to carrying conditions, and the use of physical parameters enables it to achieve invariance to across-day gait variation. Although spatio- temporal deformation of a subject’s shape in gait sequences provides better discriminative power than its kinematics, inclusion of dynamical motion characteristics improves the iden- tification rate. Therefore, the thesis presents a gait recognition method which combines spatio-temporal shape and dynamic motion characteristics of a subject to achieve robust- ness against the maximum number of challenging factors compared to related state-of-the- art methods. A region-based gait recognition method that analyses a subject’s shape in image and feature spaces is presented to achieve invariance to clothing variation and carry- ing conditions. To take into account of arbitrary moving directions of a subject in realistic scenario, a gait recognition method must be robust against variation in view. Hence, the the- sis presents a robust view-invariant multiscale gait recognition method. Finally, the thesis proposes a gait recognition method based on low spatial and low temporal resolution video sequences captured by a CCTV. The computational complexity of each method is analysed. Experimental analyses on public datasets demonstrate the efficacy of the proposed methods

NASA Tech Briefs, March 1996

Topics: Computer-Aided Design and Engineering; Electronic Components and Cicuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Mathematics and Information; Books and Reports

Ways and Capacity in Archaeological Data Management in Serbia

Over the past year and due to the COVID-19 pandemic, the entire world has witnessed inequalities across borders and societies. They also include access to archaeological resources, both physical and digital. Both archaeological data creators and users spent a lot of time working from their homes, away from artefact collections and research data. However, this was the perfect moment to understand the importance of making data freely and openly available, both nationally and internationally. This is why the authors of this paper chose to make a selection of data bases from various institutions responsible for preservation and protection of cultural heritage, in order to understand their policies regarding accessibility and usage of the data they keep. This will be done by simple visits to various web-sites or data bases. They intend to check on the volume and content, but also importance of the offered archaeological heritage. In addition, the authors will estimate whether the heritage has adequately been classified and described and also check whether data is available in foreign languages. It needs to be seen whether it is possible to access digital objects (documents and the accompanying metadata), whether access is opened for all users or it requires a certain hierarchy access, what is the policy of usage, reusage and distribution etc. It remains to be seen whether there are public API or whether it is possible to collect data through API. In case that there is a public API, one needs to check whether datasets are interoperable or messy, requiring data cleaning. After having visited a certain number of web-sites, the authors expect to collect enough data to make a satisfactory conclusion about accessibility and usage of Serbian archaeological data web bases

Taphonomy, environment or human plant exploitation strategies?: Deciphering changes in Pleistocene-Holocene plant representation at Umhlatuzana rockshelter, South Africa

The period between ~40 and 20 ka BP encompassing the Middle Stone Age (MSA) and Later Stone Age (LSA) transition has long been of interest because of the associated technological change. Understanding this transition in southern Africa is complicated by the paucity of archaeological sites that span this period. With its occupation sequence spanning the last ~70,000 years, Umhlatuzana Rock Shelter is one of the few sites that record this transition. Umhlatuzana thus offers a great opportunity to study past environmental dynamics from the Late Pleistocene (MIS 4) to the Late Holocene, and past human subsistence strategies, their social organisation, technological and symbolic innovations. Although organic preservation is poor (bones, seeds, and charcoal) at the site, silica phytoliths preserve generally well throughout the sequence. These microscopic silica particles can identify different plant types that are no longer visible at the site because of decomposition or burning to a reliable taxonomical level. Thus, to trace site occupation, plant resource use, and in turn reconstruct past vegetation, we applied phytolith analyses to sediment samples of the newly excavated Umhlatuzana sequence. We present results of the phytolith assemblage variability to determine change in plant use from the Pleistocene to the Holocene and discuss them in relation to taphonomical processes and human plant gathering strategies and activities. This study ultimately seeks to provide a palaeoenvironmental context for modes of occupation and will shed light on past human-environmental interactions in eastern South Africa.NWOVidi 276-60-004Human Origin

Neolithic land-use in the Dutch wetlands: estimating the land-use implications of resource exploitation strategies in the Middle Swifterbant Culture (4600-3900 BCE)

The Dutch wetlands witness the gradual adoption of Neolithic novelties by foraging societies during the Swifterbant period. Recent analyses provide new insights into the subsistence palette of Middle Swifterbant societies. Small-scale livestock herding and cultivation are in evidence at this time, but their importance if unclear. Within the framework of PAGES Land-use at 6000BP project, we aim to translate the information on resource exploitation into information on land-use that can be incorporated into global climate modelling efforts, with attention for the importance of agriculture. A reconstruction of patterns of resource exploitation and their land-use dimensions is complicated by methodological issues in comparing the results of varied recent investigations. Analyses of organic residues in ceramics have attested to the cooking of aquatic foods, ruminant meat, porcine meat, as well as rare cases of dairy. In terms of vegetative matter, some ceramics exclusively yielded evidence of wild plants, while others preserve cereal remains. Elevated δ15N values of human were interpreted as demonstrating an important aquatic component of the diet well into the 4th millennium BC. Yet recent assays on livestock remains suggest grazing on salt marshes partly accounts for the human values. Finally, renewed archaeozoological investigations have shown the early presence of domestic animals to be more limited than previously thought. We discuss the relative importance of exploited resources to produce a best-fit interpretation of changing patterns of land-use during the Middle Swifterbant phase. Our review combines recent archaeological data with wider data on anthropogenic influence on the landscape. Combining the results of plant macroremains, information from pollen cores about vegetation development, the structure of faunal assemblages, and finds of arable fields and dairy residue, we suggest the most parsimonious interpretation is one of a limited land-use footprint of cultivation and livestock keeping in Dutch wetlands between 4600 and 3900 BCE.NWOVidi 276-60-004Human Origin

1995 BRAC Commission

Base Closure Cleanup Seminar December 1993. File 2 of 4. Box 72, IA-008