An Intelligent Approach To Discrete Sampling Of Parametric Curves

In graphics and animation applications, two of the problems are: (1) representation of an analytic curve by a discrete set of sampled points and (2) determining the similarity between two parametric curves. It is necessary to measure the accuracy of approximation and to have a metric to calculate the disparity between two parametric curves. Both of these problems have been associated with the reparameterization of the curves with respect to arc length. One of the methods uses Gaussian Quadrature to determine the arc length parameterization [Guenter and Parent 1990], while another interesting technique is a simple approximation method [Fritsch and Nielson 1990]. There are various ways to compute the similarity between two curves. For 2D Cartesian curves, max norm yields a satisfactory distance metric. For parametric curves, Euclidean norm is frequently used. Arc length is reasonable parameterization, but explicit arc length parameterization is not easy to compute for arbitrary parametric curves. We give a new technique for discretizing parametric curves. These sampled points can be used to approximate curves, determine arc length parameterization, and similarity between them. This technique is accurate, robust and simpler to implement. Comparisons of the previous methods with the new one is presented

Intelligent OFDM telecommunication system. Part 4. Anti-eavesdropping and anti-jamming properties of the system, based on many-parameter and fractional Fourier transforms

In this paper, we aim to investigate the superiority and practicability of many-parameter wavelet and Golay transforms (MPWT and MPGT) from the physical layer security (PHY-LS) perspective. We propose novel Intelligent OFDM-telecommunication system (Intelligent-OFDM-TCS), based on many-parameter transforms (MPTs). New system uses inverse MPT for modulation at the transmitter and direct MPT for demodulation at the receiver. The purpose of employing the MPTs is to improve the PHY-LS of wireless transmissions against to the wide-band anti-jamming communication. Each MPT depends on finite set of independent Jacobi parameters (angles), which could be changed independently one of another. When parameters are changed, multi-parametric transform is changed too taking form of a set known (and unknown) orthogonal (or unitary) wavelet transforms. We implement the following performances as bit error rate (BER), symbol error rate (SER), peak to average power ratio (PAPR), the Shannon-Wyner secrecy capacity (SWSC) for novel Intelligent-MPWT-OFDM-TCS. Previous research has shown that the conventional OFDM TCS based on discrete Fourier transform (DFT) has unsatisfactory characteristics in BER, PARP, SWSC and in anti-eavesdropping communications. We study Intelligent-MPT-OFDM-TCS to find out optimal values of angle parameters of MPT optimized BER, PAPR, SWSC, anti-eavesdropping effects. Simulation results show that the proposed Intelligent OFDM-TCS have better performances than the conventional OFDM system based on DFT against eavesdropping. © 2019 IOP Publishing Ltd. All rights reserved

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as it executes any number of sub-tasks. As robots continue their quest of functioning in unstructured environments, it is imperative they understand what is it that they are actually doing to render them more robust. This work investigates the modeling ability of Bayesian nonparametric techniques on Markov Switching Process to learn complex dynamics typical in robot contact tasks. We study whether the Markov switching process, together with Bayesian priors can outperform the modeling ability of its counterparts: an HMM with Bayesian priors and without. The work was tested in a snap assembly task characterized by high elastic forces. The task consists of an insertion subtask with very complex dynamics. Our approach showed a stronger ability to generalize and was able to better model the subtask with complex dynamics in a computationally efficient way. The modeling technique is also used to learn a growing library of robot skills, one that when integrated with low-level control allows for robot online decision making.Comment: final version submitted to humanoids 201

Smooth quasi-developable surfaces bounded by smooth curves

Computing a quasi-developable strip surface bounded by design curves finds wide industrial applications. Existing methods compute discrete surfaces composed of developable lines connecting sampling points on input curves which are not adequate for generating smooth quasi-developable surfaces. We propose the first method which is capable of exploring the full solution space of continuous input curves to compute a smooth quasi-developable ruled surface with as large developability as possible. The resulting surface is exactly bounded by the input smooth curves and is guaranteed to have no self-intersections. The main contribution is a variational approach to compute a continuous mapping of parameters of input curves by minimizing a function evaluating surface developability. Moreover, we also present an algorithm to represent a resulting surface as a B-spline surface when input curves are B-spline curves.Comment: 18 page

Multivariate adaptive regression splines for estimating riverine constituent concentrations

Regression-based methods are commonly used for riverine constituent concentration/flux estimation, which is essential for guiding water quality protection practices and environmental decision making. This paper developed a multivariate adaptive regression splines model for estimating riverine constituent concentrations (MARS-EC). The process, interpretability and flexibility of the MARS-EC modelling approach, was demonstrated for total nitrogen in the Patuxent River, a major river input to Chesapeake Bay. Model accuracy and uncertainty of the MARS-EC approach was further analysed using nitrate plus nitrite datasets from eight tributary rivers to Chesapeake Bay. Results showed that the MARS-EC approach integrated the advantages of both parametric and nonparametric regression methods, and model accuracy was demonstrated to be superior to the traditionally used ESTIMATOR model. MARS-EC is flexible and allows consideration of auxiliary variables; the variables and interactions can be selected automatically. MARS-EC does not constrain concentration-predictor curves to be constant but rather is able to identify shifts in these curves from mathematical expressions and visual graphics. The MARS-EC approach provides an effective and complementary tool along with existing approaches for estimating riverine constituent concentrations

Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors

This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formation shape, scalability to different swarm sizes and easy implementation. The shape formation control is first developed for point particle robots and then extended to nonholonomic mobile robots. Several simulations with robot groups of different sizes are presented to validate our proposed approach