An Active Pattern Recognition Architecture for Mobile Robots

An active, attentionally-modulated recognition architecture is proposed for object recognition and scene analysis. The proposed architecture forms part of navigation and trajectory planning modules for mobile robots. Key characteristics of the system include movement planning and execution based on environmental factors and internal goal definitions. Real-time implementation of the system is based on space-variant representation of the visual field, as well as an optimal visual processing scheme utilizing separate and parallel channels for the extraction of boundaries and stimulus qualities. A spatial and temporal grouping module (VWM) allows for scene scanning, multi-object segmentation, and featural/object priming. VWM is used to modulate a tn~ectory formation module capable of redirecting the focus of spatial attention. Finally, an object recognition module based on adaptive resonance theory is interfaced through VWM to the visual processing module. The system is capable of using information from different modalities to disambiguate sensory input.Defense Advanced Research Projects Agency (90-0083); Office of Naval Research (N00014-92-J-1309); Consejo Nacional de Ciencia y Tecnología (63462

Invariance principles for switched systems with restrictions

In this paper we consider switched nonlinear systems under average dwell time switching signals, with an otherwise arbitrary compact index set and with additional constraints in the switchings. We present invariance principles for these systems and derive by using observability-like notions some convergence and asymptotic stability criteria. These results enable us to analyze the stability of solutions of switched systems with both state-dependent constrained switching and switching whose logic has memory, i.e., the active subsystem only can switch to a prescribed subset of subsystems.Comment: 29 pages, 2 Appendixe

Navite: A Neural Network System For Sensory-Based Robot Navigation

A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process.Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y Tecnología (63l462

Infrared finite ghost propagator in the Feynman gauge

We demonstrate how to obtain from the Schwinger-Dyson equations of QCD an infrared finite ghost propagator in the Feynman gauge. The key ingredient in this construction is the longitudinal form factor of the non-perturbative gluon-ghost vertex, which, contrary to what happens in the Landau gauge, contributes non-trivially to the gap equation of the ghost. The detailed study of the corresponding vertex equation reveals that in the presence of a dynamical infrared cutoff this form factor remains finite in the limit of vanishing ghost momentum. This, in turn, allows the ghost self-energy to reach a finite value in the infrared, without having to assume any additional properties for the gluon-ghost vertex, such as the presence of massless poles. The implications of this result and possible future directions are briefly outlined.Comment: 22 pages, 9 figure

Measure of the size of CP violation in extended models

In this letter we introduce a possible measure of the size of CP violation in the Standard Model and its extensions, based on quantities invariant under the change of weak quark basis. We also introduce a measure of the ``average size'' of CP violation in a model, which can be used to compare the size of CP violation in models involving extra sequential or vector-like quarks, or left-right symmetry.Comment: LaTeX, 7 pages, no figure

Gluon and ghost propagators in the Landau gauge: Deriving lattice results from Schwinger-Dyson equations

We show that the application of a novel gauge invariant truncation scheme to the Schwinger-Dyson equations of QCD leads, in the Landau gauge, to an infrared finite gluon propagator and a divergent ghost propagator, in qualitative agreement with recent lattice data.Comment: 9 pages, 2 figures; v3: typos corrected; v2: discussion on numerical results expanded, considerations about the Kugo-Ojima confinement criterion adde

BLENDED LEARNING STRATEGIES: OPPORTUNITIES AND LIMITATIONS OF USING YOUTUBE VIDEOS TO SUPPORT READY RELEVANT LEARNING

In this thesis, we develop a business case analysis of the use of YouTube with the Navy’s Ready Relevant Learning. We assess current literature regarding the effectiveness of YouTube videos for enhancing adult learning and job performance. We then identify the requirements for the Navy to implement YouTube learning and discuss the advantages and limitations associated with using YouTube for learning. Additionally, we conduct a qualitative analysis of data obtained from interviews with students and instructors at a Navy vocational training site on the use of digital learning strategies. We place the main findings from the interviews in the context of the current literature to validate that YouTube can be an effective tool to enhance learning. We conclude that YouTube is a viable tool for vocational training and we recommend that the Navy conduct a pilot program to identify implementation needs to scale effectively the use of YouTube as a training tool.NPS Naval Research ProgramThis project was funded in part by the NPS Naval Research Program.Lieutenant Commander, United States NavyLieutenant, United States NavyApproved for public release. Distribution is unlimited