Description-driven Adaptation of Media Resources

The current multimedia landscape is characterized by a significant diversity in terms of available media formats, network technologies, and device properties. This heterogeneity has resulted in a number of new challenges, such as providing universal access to multimedia content. A solution for this diversity is the use of scalable bit streams, as well as the deployment of a complementary system that is capable of adapting scalable bit streams to the constraints imposed by a particular usage environment (e.g., the limited screen resolution of a mobile device). This dissertation investigates the use of an XML-driven (Extensible Markup Language) framework for the format-independent adaptation of scalable bit streams. Using this approach, the structure of a bit stream is first translated into an XML description. In a next step, the resulting XML description is transformed to reflect a desired adaptation of the bit stream. Finally, the transformed XML description is used to create an adapted bit stream that is suited for playback in the targeted usage environment. The main contribution of this dissertation is BFlavor, a new tool for exposing the syntax of binary media resources as an XML description. Its development was inspired by two other technologies, i.e. MPEG-21 BSDL (Bitstream Syntax Description Language) and XFlavor (Formal Language for Audio-Visual Object Representation, extended with XML features). Although created from a different point of view, both languages offer solutions for translating the syntax of a media resource into an XML representation for further processing. BFlavor (BSDL+XFlavor) harmonizes the two technologies by combining their strengths and eliminating their weaknesses. The expressive power and performance of a BFlavor-based content adaptation chain, compared to tool chains entirely based on either BSDL or XFlavor, were investigated by several experiments. One series of experiments targeted the exploitation of multi-layered temporal scalability in H.264/AVC, paying particular attention to the use of sub-sequences and hierarchical coding patterns, as well as to the use of metadata messages to communicate the bit stream structure to the adaptation logic. BFlavor was the only tool to offer an elegant and practical solution for XML-driven adaptation of H.264/AVC bit streams in the temporal domain

Cooperative Position and Orientation Estimation with Multi-Mode Antennas

Robotic multi-agent systems are envisioned for planetary exploration and terrestrial applications. Autonomous operation of robots requires estimations of their positions and orientations, which are obtained from the direction-of-arrival (DoA) and the time-of-arrival (ToA) of radio signals exchanged among the agents. In this thesis, we estimate the signal DoA and ToA using a multi-mode antenna (MMA). An MMA is a single antenna element, where multiple orthogonal current modes are excited by different antenna ports. We provide a first study on the use of MMAs for cooperative position and orientation estimation, specifically exploring their DoA estimation capabilities. Assuming the agents of a cooperative network are equipped with MMAs, lower bounds on the achievable position and orientation accuracy are derived. We realize a gap between the theoretical lower bounds and real-world performance of a cooperative radio localization system, which is caused by imperfect antenna and transceiver calibration. Consequentially, we theoretically analyze in-situ antenna calibration, introduce an algorithm for the calibration of arbitrary multiport antennas and show its effectiveness by simulation. To also improve calibration during operation, we propose cooperative simultaneous localization and calibration (SLAC). We show that cooperative SLAC is able to estimate antenna responses and ranging biases of the agents together with their positions and orientations, leading to considerably better position and orientation accuracy. Finally, we validate the results from theory and simulation by experiments with robotic rovers equipped with software-defined radios (SDRs). In conclusion, we show that DoA estimation with an MMA is feasible, and accuracy can be improved by in-situ calibration and SLAC

A Framework for Digital Emotions

As new media become more ubiquitous, our emotional experiences in digital space are increasing exponentially as well. While there is much talk of “affective” computing and “affective” new media art, a disconnect exists between networked emotions and the popular media that they inhabit. This research presents a theoretical framework for assessing “digital emotions”—a term that describes the feedback process between digital technologies and the body with respect to short, networked inscriptions of emotion and the (re)experience of those inscriptions within the body and through digital space. Digital emotions display five basic characteristics that can be applied to a variety of media environments: (1) They describe a process of feedback that link short, emotive inscriptions in digital environments to users and their (re)experiences of those inscriptions; (2) This feedback process includes, but is not limited to, the inscriber, the medium, and the receiver and the emotive experience fuels the initial connectivity and any further connectivity; (3) The emotional value varies depending on the media, the community of users, and the aesthetic experience of the digital emotion; (4) Digital emotions influence our emotional repertoire by normalizing our paradigm scenarios; and (5) They are highly malleable based on changes in technologies and their ability to both expand and contract emotional experiences in real time. The core characteristics of digital emotions are applied to three broad and overlapping categories: technology, community, and aesthetic experience. Each of these aspects of digital emotions work together, yet they exist along the massive spectrum of our online, emotional experiences—from our casual click of the “like” button to digital community artworks. Applied to digital spaces along this spectrum, digital emotions illuminate the feedback process that occurs between the media, the network, and the environment. The framework ultimately suggests that the process of digital emotions explicates emotions experiences that could only occur in digital space and are therefore unique to digital culture

The Future of Humanoid Robots

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R&D experience, patents, and publications in the area of humanoid robotics, and his experience is reflected in editing the content of the book

Spin-Dependent Optical Phenomena: Fundamentals and Applications

Tesis por compendio[ES] Al igual que la masa o la carga, el espín es una propiedad física fundamental que, típicamente, aparece en la descripción de los sistemas cuánticos. Más allá de sus importantes implicaciones teóricas, el creciente avance de la tecnología y el desarrollo de los dispositivos hacia escalas cada vez más pequeñas ha favorecido el surgimiento de multitud de aplicaciones que involucran al espín, entre las cuales se destaca la espintrónica; una nueva forma de electrónica en la que, además de la carga, también se explotan los grados de libertad otorgados por el espín del electrón. Por supuesto, el espín no es exclusivo de los electrones, está presente en todas las partículas elementales, y por ende, en los fotones. En este caso, y a diferencia de lo que ocurre con los electrones, existe una correspondencia clásica que relaciona el espín del fotón con los estados de polarización circular de la luz. Por lo tanto, en nano-óptica y en fotónica, los fenómenos basados en el espín se refieren, grosso modo, a aquellos que son fuertemente dependientes de la polarización circular de la luz. En este marco general, uno de los ejemplos más preponderantes se halla en la interacción espín-órbita. En su versión óptica establece que, bajo ciertas condiciones, es posible que exista una influencia mutua entre el estado de polarización (espín) y la propagación (órbita) de la luz. A pesar de su carácter ubicuo en todos los procesos ópticos básicos, sus efectos son muy débiles, y su manifestación se restringe a la nanoescala, lo cual dificulta su observación e identificación. En este mismo contexto, otro concepto heredado del formalismo cuántico que tiene análogo fotónico directo es la quiralidad óptica; una propiedad dinámica local que, de alguna manera, permite cuantificar escalarmente el espín de un campo óptico. Aparte de su controvertido significado físico y su estrecho vínculo con los sistemas plasmónicos y los metamateriales, como amplificadores de sus efectos, su principal característica fundamental es que, para los campos ópticos en el vacío, es una cantidad conservada. En esta tesis se ahonda teóricamente en los fundamentos básicos de estas características fotónicas. Específicamente, se demuestra analíticamente que la interacción espín-órbita es un fenómeno que surge natural y necesariamente en la nanoescala. Sobre esta base se expone un formalismo para extender la excitación unidireccional de campo cercano más allá de la aproximación dipolar, lo cual facilita su observación y mejora las propiedades de acoplo. Por otra parte, se analiza el concepto de la quiralidad óptica, originalmente definida en el vacío, y se generaliza a cualquier tipo de medio, incluyendo sistemas altamente dispersivos. Asimismo, se exploran diferentes configuraciones que permitan implementar las principales funcionalidades quirópticas (sensado y espectroscopía) en plataformas de fotónica integrada. Además de su potencial para aplicaciones, este estudio tiende un puente para abordar clásicamente propiedades y efectos que tradicionalmente son de tipo cuántico.[CA] Igual que la massa o la càrrega, l'espín és una propietat física fonamental que, típicament, apareix en la descripció dels sistemes quàntics. Més enllà de les seves importants implicacions teòriques, el creixent avanç de la tecnologia i el desenvolupament dels dispositius cap a escales cada vegada més petites ha afavorit el sorgiment de multitud d'aplicacions que involucren l'espín, entre les quals es destaca l'espintrònica; una nova forma d'electrònica en què, a més de la càrrega, també s'exploten els graus de llibertat atorgats per l'espín de l'electró. Per descomptat, l'espín no és exclusiu dels electrons, és present en totes les partícules elementals, i per tant, en els fotons. En aquest cas, i a diferència del que passa amb els electrons, hi ha una correspondència clàssica que relaciona l'espín del fotó amb els estats de polarització circular de la llum. Per tant, en nano-òptica i en fotònica, els fenòmens basats en l'espín es refereixen, grosso modo, a aquells que són fortament dependents de la polarització circular de la llum. En aquest marc general, un dels exemples més preponderants es troba en la interacció espín-òrbita. En la seva versió òptica estableix que, sota certes condicions, és possible que hi hagi una influència mútua entre l'estat de polarització (espín) i la propagació (òrbita) de la llum. Malgrat el seu caràcter ubic en tots els processos òptics bàsics, els seus efectes són molt febles, i la seva manifestació es restringeix a la nanoescala, la qual cosa dificulta la seva observació i identificació. En aquest mateix context, un altre concepte heretat del formalisme quàntic que té anàleg fotònic directe és la quiralitat òptica; una propietat dinàmica local que, d'alguna manera, quantifica escalarment l'espín d'un camp òptic. A banda del seu controvertit significat físic i el seu estret vincle amb els sistemes plasmònics i els metamaterials, com amplificadors dels seus efectes, la seva principal característica fonamental és que, per als camps òptics en el buit, és una quantitat conservada. Des d'un enfocament teòric, aquesta tesi aprofundeix en els fonaments bàsics d'aquestes característiques fotòniques. Específicament, es demostra analíticament que la interacció espín-òrbita és un fenomen que sorgeix natural i necessàriament en la nanoescala. Sobre aquesta base s'exposa un formalisme per estendre l'efecte d'excitació unidireccional de camp pròxim més enllà de l'aproximació dipolar, la qual cosa facilita la seva observació i millora les propietats d'acoblo. D'altra banda, s'analitza el concepte de la quiralitat òptica, originalment definida en el buit, i es generalitza a qualsevol tipus de mitjà, incloent sistemes altament dispersius. Així mateix, s'exploren diferents configuracions que permetin implementar les principals funcionalitats quiròptiques (sensat i espectroscòpia) en plataformes de fotònica integrada. A més del seu potencial per a aplicacions, aquest estudi tendeix un pont per abordar clàssicament propietats i efectes tradicionalment quàntics.[EN] Just like mass or charge, spin is a fundamental physical property that, typically, appears in the description of quantum systems. Beyond its important theoretical implications, the rapid advance of technology along with the relentless trend toward the development of devices at increasingly smaller scales have boosted the occurrence of a wide range of applications involving spin, among which is highlighted the spintronics; a novel form of electronics which, besides the charge, also exploits the degrees of freedom provided by the electron spin. Of course, the spin is not exclusive to electrons, but is actually present in all the elementary particles, and therefore in photons. In such a case, and unlike what happens with electrons, there exists a direct classical correspondence relating the spin of photons with the circular polarization states of light. Thus, in nano-optics and photonics, spin-dependent phenomena are broadly referred to as those that strongly rely upon the circular polarization of light. Within this general framework, one of the most preponderant examples is found in the spin-orbit interaction. In its optical version, it states that, under certain conditions, it is possible that there exists a mutual influence between the state of polarization (spin) and the propagation (orbit) of light. Despite its ubiquitous character in all basic optical processes, its effects are very weak, and its manifestation is restricted at the nanoscale, thereby hindering its observation and identification. In this same context, another concept somehow inherited from the quantum formalism with a direct photonic analogue is the optical chirality; a local dynamical property that, in a way, allows one to quantifying scalarly the spin of an optical field. Apart from its controversial physical meaning and its close relationship with plasmonic systems and metamaterials, often regarded as chiral enhancers, its main feature is that, for optical fields in the vacuum, it is a conserved quantity. From a theoretical standpoint, this thesis delves into the basics of these photonic traits. Specifically, it is analytically demonstrated that the spin-orbit interaction is indeed a phenomenon that naturally and necessarily emerges at the nanoscale. Building on this, it is addressed a formalism to extend the effect of near-field unidirectional excitation beyond the dipolar approximation, thus facilitating its observation and improving the coupling performance. On the other side, the optical chirality, originally put forward for electromagnetic fields in vacuum, is thoroughly analyzed and generalized to any arbitrary medium, including highly dispersive systems. Furthermore, different configurations for implementing the main chiroptical functionalities (sensing and spectroscopy) in integrated photonic platforms are explored. Besides its potential for applications, this study lays a bridge to classically approach features and effects which are traditionally quantum-like.This work was supported by fundings from Ministerio de Economía y Competitividad of Spain (MINECO) under Contract No.TEC2014-51902-C2-1-R. and by ERC Starting Grant No. ERC-2016-STG-714151-PSINFONI. This work was also partially supported by funding from the European Commission Project THOR H2020-EU-829067.Vázquez Lozano, JE. (2021). Spin-Dependent Optical Phenomena: Fundamentals and Applications [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/166775TESISCompendi

Lab experiences for teaching undergraduate dynamics

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.Includes bibliographical references (p. 443-466).This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.This thesis describes several projects developed to teach undergraduate dynamics and controls. The materials were developed primarily for the class 2.003 Modeling Dynamics and Control I. These include (1) a set of ActivLab modular experiments that illustrate the dynamics of linear time-invariant (LTI) systems and (2) a two wheeled mobile inverted pendulum. The ActivLab equipment has been designed as shareware, and plans for it are available on the web. The inverted pendulum robot developed here is largely inspired by the iBOT and Segway transportation devices invented by Dean Kamen.by Katherine A. Lilienkamp.S.M

Quality of Service of Crash-Recovery Failure Detectors

This thesis presents the results of an investigation into the failure detection problem. We consider the specific case of the Quality of Service (QoS) of crash failure detection. In contrast to previous work, we address the crash failure detection problem when the monitored target is resilient and recovers after failure. To the best of our knowledge, this is the first work to provide an analysis of crash-recovery failure detection from the QoS perspective.We develop a probabilistic model of the behavior of a crash-recovery target, i.e. one which has the ability to recover from the crash state. We show that the fail-free run and the crash-stop run are special cases of the crash-recovery run with mean time to failure (MTTF) approaching to infinity and mean time to recovery (MTTR) approaching to infinity, respectively. We extend the previously published QoS metrics to allow the measurement of the recovery speed, and the definition of the completeness property of a failure detector. Then, the impact of the dependability of the crash-recovery target on the QoS bounds for such a crash-recovery failure detector is analyzed using general dependability metrics, such as MTTF and MTTR, based on an approximate probabilistic model of the two-process failure detection system. Then according to our approximate model, we show how to estimate the failure detector’s parameters to achieve a required QoS, based on Chen et al.’s NFD-S algorithm analytically, and how to execute the configuration procedure of this crash-recovery failure detector.In order to make the failure detector adaptive to the target’s crash-recovery behavior and enable the autonomy of the monitoring procedure, we propose two types of recovery detection protocols. One is a reliable recovery detection protocol, which can guarantee to detect each occurring failure and recovery by adopting persistent storage. The other is a lightweight recovery detection protocol, which does not guarantee to detect every failure and recovery but which reduces the system overhead. Both of these recovery detection protocols improve the completeness without reducing the other QoS aspects of a failure detector. In addition, we also demonstrate how to estimate the inputs, such as the dependability metrics, using the failure detector itself.In order to evaluate our analytical work, we simulate the following failure detection algorithms: the simple heartbeat timeout algorithm, the NFD-S algorithm and the NFDS algorithm with the lightweight recovery detection protocol, for various values of MTTF and MTTR. The simulation results show that the dependability of a recoverable monitored target could have significant impact on the QoS of such a failure detector. This conforms well to our models and analysis. We show that in the case of reasonable long MTTF, the NFD-S algorithm with the lightweight recovery detection protocol exhibits better QoS than the NFD-S algorithm for the completeness of a crash-recovery failure detector, and similarly for other QoS metrics

Investigating the internal structure of glaciers and ice sheets using Ground Penetrating Radar

Ice penetrating radar (IPR) is a key tool in understanding the internal geometry and nature of glaciers and ice sheets, and has widely been used to derive bed topography, map internal layers and understand the thermal state of the cryosphere. Modern glacier and ice-sheet models facilitate increased assimilation of observations of englacial structure, including glacier thermal state and internal-layer geometry, yet the products available from radar surveys are often under-utilised. This thesis presents the development and assessment of radar processing strategies to improve quantitative retrievals from commonly acquired radar data. The first major focus of this thesis centres on deriving englacial velocities from zero-offset IPR data. Water held within micro- and macro-scale pores in ice has a direct influence on radar velocity, and significantly reduces ice viscosity and hence impacts the long-term evolution of polythermal glaciers. Knowledge of the radar velocity field is essential to retrieve correct bed topography from depth conversion processing, yet bed topography is often estimated assuming constant velocity, and potential errors from lateral variations in the velocity field are neglected. Here I calculate the englacial radar velocity field from common offset IPR data collected on Von Postbreen, a polythermal glacier in Svalbard. I first extract the diffracted wavefield using local coherent stacking, then use the focusing metric of negative entropy to deduce a local migration velocity field from constant-velocity migration panels and produce a glacier-wide model of local radar velocity. I show that this velocity field is successful in differentiating between areas of cold and temperate ice and can detect lateral variations in radar velocity close to the glacier bed. The effects of this velocity field in both migration and depth-conversion of the bed reflection are shown to result in consistently lower ice depths across the glacier, indicating that diffraction focusing and velocity estimation are crucial in retrieving correct bed topography in the presence of temperate ice. For the thesis’ second major component I undertake an assessment of automated techniques for tracing and interpreting ice-sheet internal stratigraphy. Radar surveys across ice sheets typically measure numerous englacial layers that can be often be regarded as isochrones. Such layers are valuable for extrapolating age-depth relationships away from ice-core locations, reconstructing palaeoaccumulation variability, and investigating past ice-sheet dynamics. However, the use of englacial layers in Antarctica has been hampered by underdeveloped techniques for characterising layer continuity and geometry over large distances, with techniques developed independently and little opportunity for inter-comparison of results. In this paper, we present a methodology to assess the performance of automated layer-tracking and layer-dip-estimation algorithms through their ability to propagate a correct age-depth model. We use this to assess isochrone-tracking techniques applied to two test case datasets, selected from CreSIS MCoRDS data over Antarctica from a range of environments including low-dip, continuous layers and layers with terminations. We find that dip-estimation techniques are generally successful in tracking englacial dip but break down in the upper and lower regions of the ice sheet. The results of testing two previously published layer-tracking algorithms show that further development is required to attain a good constraint of age-depth relationship away from dated ice cores. I make the recommendation that auto-tracking techniques focus on improved linking of picked stratigraphy across signal disruptions to enable accurate determination of the Antarctic-wide age-depth structure. The final aspect of the thesis focuses on Finite-Difference Time-Domain (FDTD) modelling of IPR data. I present a sliced-3D approach to FDTD modelling, whereby a thin 3D domain is used to replicate modelling of full 3D polarisation while reducing computational cost. Sliced-3D modelling makes use of perfectly matched layer (PML) boundary conditions, and requires tuning of PML parameters to minimise non-physical reflections from the model-PML interface. I investigate the frequency dependence of PML parameters, and establish a relationship between complex frequency stretching parameters and effective wavelength. The resultant parameter choice is shown to minimise propagation errors in the context of a simple radioglaciological model, where 3D domains may be prohibitively large, and for a near-surface cross-borehole survey configuration, a case where full waveform inversion may typically be used

XXV Congreso Argentino de Ciencias de la Computación - CACIC 2019: libro de actas

Trabajos presentados en el XXV Congreso Argentino de Ciencias de la Computación (CACIC), celebrado en la ciudad de Río Cuarto los días 14 al 18 de octubre de 2019 organizado por la Red de Universidades con Carreras en Informática (RedUNCI) y Facultad de Ciencias Exactas, Físico-Químicas y Naturales - Universidad Nacional de Río CuartoRed de Universidades con Carreras en Informátic