Wyner-Ziv side information generation using a higher order piecewise trajectory temporal interpolation algorithm

Distributed video coding (DVC) reverses the traditional coding paradigm of complex encoders allied with basic decoding, to one where the computational cost is largely incurred by the decoder. This enables low-cost, resource-poor sensors to be used at the transmitter in various applications including multi-sensor surveillance. A key constraint governing DVC performance is the quality of side information (SI), a coarse representation of original video frames which are not available at the decoder. Techniques to generate SI have generally been based on linear temporal interpolation, though these do not always produce satisfactory SI quality especially in sequences exhibiting asymmetric (non-linear) motion. This paper presents a higher-order piecewise trajectory temporal interpolation (HOPTTI) algorithm for SI generation that quantitatively and perceptually affords better SI quality in comparison to existing temporal interpolation-based approaches

Experimental comparison of parameter estimation methods in adaptive robot control

In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined tracking- and prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods, performed on a two-degrees-of-freedom robot manipulator. Our results show that the prediction error concept is sensitive to unavoidable model uncertainties. We also demonstrate empirically the fast convergence properties of least-squares adaptation relative to gradient approaches. However, in view of the noise sensitivity of the least-squares method, the marginal performance benefits, and the computational burden, we (cautiously) conclude that the tracking-error driven gradient method is preferred for parameter adaptation in robotic applications

Vestibular Perception following Acute Unilateral Vestibular Lesions.

Little is known about the vestibulo-perceptual (VP) system, particularly after a unilateral vestibular lesion. We investigated vestibulo-ocular (VO) and VP function in 25 patients with vestibular neuritis (VN) acutely (2 days after onset) and after compensation (recovery phase, 10 weeks). Since the effect of VN on reflex and perceptual function may differ at threshold and supra-threshold acceleration levels, we used two stimulus intensities, acceleration steps of 0.5°/s(2) and velocity steps of 90°/s (acceleration 180°/s(2)). We hypothesised that the vestibular lesion or the compensatory processes could dissociate VO and VP function, particularly if the acute vertiginous sensation interferes with the perceptual tasks. Both in acute and recovery phases, VO and VP thresholds increased, particularly during ipsilesional rotations. In signal detection theory this indicates that signals from the healthy and affected side are still fused, but result in asymmetric thresholds due to a lesion-induced bias. The normal pattern whereby VP thresholds are higher than VO thresholds was preserved, indicating that any 'perceptual noise' added by the vertigo does not disrupt the cognitive decision-making processes inherent to the perceptual task. Overall, the parallel findings in VO and VP thresholds imply little or no additional cortical processing and suggest that vestibular thresholds essentially reflect the sensitivity of the fused peripheral receptors. In contrast, a significant VO-VP dissociation for supra-threshold stimuli was found. Acutely, time constants and duration of the VO and VP responses were reduced - asymmetrically for VO, as expected, but surprisingly symmetrical for perception. At recovery, VP responses normalised but VO responses remained shortened and asymmetric. Thus, unlike threshold data, supra-threshold responses show considerable VO-VP dissociation indicative of additional, higher-order processing of vestibular signals. We provide evidence of perceptual processes (ultimately cortical) participating in vestibular compensation, suppressing asymmetry acutely in unilateral vestibular lesions

Optimal control design for robust fuzzy friction compensation in a robot joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals

Maxwell-compensated design of asymmetric gradient waveforms for tensor-valued diffusion encoding

Purpose: Asymmetric gradient waveforms are attractive for diffusion encoding due to their superior efficiency, however, the asymmetry may cause a residual gradient moment at the end of the encoding. Depending on the experiment setup, this residual moment may cause significant signal bias and image artifacts. The purpose of this study was to develop an asymmetric gradient waveform design for tensor-valued diffusion encoding that is not affected by concomitant gradient. Methods: The Maxwell index was proposed as a scalar invariant that captures the effect of concomitant gradients and was constrained in the numerical optimization to 100 (mT/m)$^2$ms to yield Maxwell-compensated waveforms. The efficacy of this design was tested in an oil phantom, and in a healthy human brain. For reference, waveforms from literature were included in the analysis. Simulations were performed to investigate if the design was valid for a wide range of experiments and if it could predict the signal bias. Results: Maxwell-compensated waveforms showed no signal bias in oil or in the brain. By contrast, several waveforms from literature showed gross signal bias. In the brain, the bias was large enough to markedly affect both signal and parameter maps, and the bias could be accurately predicted by theory. Conclusion: Constraining the Maxwell index in the optimization of asymmetric gradient waveforms yields efficient tensor-valued encoding with concomitant gradients that have a negligible effect on the signal. This waveform design is especially relevant in combination with strong gradients, long encoding times, thick slices, simultaneous multi-slice acquisition and large/oblique FOVs

Design of beam optics for the Future Circular Collider e+e- -collider rings

A beam optics scheme has been designed for the Future Circular Collider-e+e- (FCC-ee). The main characteristics of the design are: beam energy 45 to 175 GeV, 100 km circumference with two interaction points (IPs) per ring, horizontal crossing angle of 30 mrad at the IP and the crab-waist scheme [1] with local chromaticity correction. The crab-waist scheme is implemented within the local chromaticity correction system without additional sextupoles, by reducing the strength of one of the two sextupoles for vertical chromatic correction at each side of the IP. So-called "tapering" of the magnets is applied, which scales all fields of the magnets according to the local beam energy to compensate for the effect of synchrotron radiation (SR) loss along the ring. An asymmetric layout near the interaction region reduces the critical energy of SR photons on the incoming side of the IP to values below 100 keV, while matching the geometry to the beam line of the FCC proton collider (FCC-hh) [2] as closely as possible. Sufficient transverse/longitudinal dynamic aperture (DA) has been obtained, including major dynamical effects, to assure an adequate beam lifetime in the presence of beamstrahlung and top-up injection. In particular, a momentum acceptance larger than +/-2% has been obtained, which is better than the momentum acceptance of typical collider rings by about a factor of 2. The effects of the detector solenoids including their compensation elements are taken into account as well as synchrotron radiation in all magnets. The optics presented in this paper is a step toward a full conceptual design for the collider. A number of issues have been identified for further study