Real-time computation of distance to dynamic obstacles with multiple depth sensors

We present an efficient method to evaluate distances between dynamic obstacles and a number of points of interests (e.g., placed on the links of a robot) when using multiple depth cameras. A depth-space oriented discretization of the Cartesian space is introduced that represents at best the workspace monitored by a depth camera, including occluded points. A depth grid map can be initialized off line from the arrangement of the multiple depth cameras, and its peculiar search characteristics allows fusing on line the information given by the multiple sensors in a very simple and fast way. The real-time performance of the proposed approach is shown by means of collision avoidance experiments where two Kinect sensors monitor a human-robot coexistence task

A Depth Space Approach for Evaluating Distance to Objects -- with Application to Human-Robot Collision Avoidance

We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for collision avoidance, contact point identification, and augmented reality. The key idea is to perform all distance evaluations directly in the depth space. This allows distance estimation by considering also the frustum generated by the pixel on the depth image, which takes into account both the pixel size and the occluded points. Different techniques to aggregate distance data coming from multiple object points are proposed. We compare the Depth space approach with the commonly used Cartesian space or Configuration space approaches, showing that the presented method provides better results and faster execution times. An application to human-robot collision avoidance using a KUKA LWR IV robot and a Microsoft Kinect sensor illustrates the effectiveness of the approach

Bargaining Coalitions in the Agricultural Negotiations of the Doha Round: Similarity of Interests or Strategic Choices? An Empirical Assessment

The paper aims at understanding the structural features of the bargaining coalitions in the Doha Round of the WTO. We provide an empirical assessment of the preferences of each negotiating actor looking at general economics indicators, development levels, structure of the agricultural sectors, and trade policies for agricultural products. Bargaining coalitions are analyzed by grouping countries through a cluster analysis procedure. The clusters are compared with existing coalitions, in order to assess their degree of internal homogeneity as well as their common interests. Such a comparison allows the detection of possible “defectors”, i.e. countries that according to their economic conditions and policies seem to be relatively less committed to the positions of the coalition they join.Agricultural trade negotiations, Bargaining coalitions, WTO, Cluster analysis

Agricultural Expenditure in the Future European Union Budget

Agricultural and Food Policy, Agricultural Finance,

The edge-disjoint path problem on random graphs by message-passing

We present a message-passing algorithm to solve the edge disjoint path problem (EDP) on graphs incorporating under a unique framework both traffic optimization and path length minimization. The min-sum equations for this problem present an exponential computational cost in the number of paths. To overcome this obstacle we propose an efficient implementation by mapping the equations onto a weighted combinatorial matching problem over an auxiliary graph. We perform extensive numerical simulations on random graphs of various types to test the performance both in terms of path length minimization and maximization of the number of accommodated paths. In addition, we test the performance on benchmark instances on various graphs by comparison with state-of-the-art algorithms and results found in the literature. Our message-passing algorithm always outperforms the others in terms of the number of accommodated paths when considering non trivial instances (otherwise it gives the same trivial results). Remarkably, the largest improvement in performance with respect to the other methods employed is found in the case of benchmarks with meshes, where the validity hypothesis behind message-passing is expected to worsen. In these cases, even though the exact message-passing equations do not converge, by introducing a reinforcement parameter to force convergence towards a sub optimal solution, we were able to always outperform the other algorithms with a peak of 27% performance improvement in terms of accommodated paths. On random graphs, we numerically observe two separated regimes: one in which all paths can be accommodated and one in which this is not possible. We also investigate the behaviour of both the number of paths to be accommodated and their minimum total length.Comment: 14 pages, 8 figure

Nanoparticle-based receptors mimic protein-ligand recognition

The self-assembly of a monolayer of ligands on the surface of noble metal nanoparticles dictates the fundamental nanoparticle\u2019s behavior and its functionality. In this combined computational\u2013experimental study, we analyze the structure, organization, and dynamics of functionalized coating thiols in monolayer-protected gold nanoparticles (AuNPs). We explain how functionalized coating thiols self-organize through a delicate and somehow counterintuitive balance of interactions within the monolayer itself and with the solvent. We further describe how the nature and plasticity of these interactions modulate nanoparticle-based chemosensing. Importantly, we found that self-organization of coating thiols can induce the formation of binding pockets in AuNPs. These transient cavities can accommodate small molecules, mimicking protein-ligand recognition, which may explain the selectivity and sensitivity observed for different organic analytes in NMR chemosensing experiments. Thus, our findings advocate for the rational design of tailored coating groups to form specific recognition binding sites on monolayer-protected AuNPs

Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space

We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated. The proposed SNS (Saturation in the Null Space) algorithm proceeds by successively discarding the use of joints that would exceed their motion bounds when using the minimum norm solution. When processing multiple tasks with priority, the SNS method realizes a preemptive strategy by preserving the correct order of priority in spite of the presence of saturations. In the single- and multi-task case, the algorithm automatically integrates a least possible task scaling procedure, when an original task is found to be unfeasible. The optimality properties of the SNS algorithm are analyzed by considering an associated Quadratic Programming problem. Its solution leads to a variant of the algorithm, which guarantees optimality also when the basic SNS algorithm does not. Numerically efficient versions of these algorithms are proposed. Their performance allows real-time control of robots executing many prioritized tasks with a large number of hard bounds. Experimental results are reported

The BLAST Survey of the Vela Molecular Cloud: Dynamical Properties of the Dense Cores in Vela-D

The Vela-D region, according to the nomenclature given by Murphy & May (1991), of the star forming complex known as the Vela Molecular Ridge (VMR), has been recently analyzed in details by Olmi et al. (2009), who studied the physical properties of 141 pre- and proto-stellar cold dust cores, detected by the ``Balloon-borne Large-Aperture Submillimeter Telescope'' (BLAST) during a much larger (55 sq. degree) Galactic Plane survey encompassing the whole VMR. This survey's primary goal was to identify the coldest, dense dust cores possibly associated with the earliest phases of star formation. In this work, the dynamical state of the Vela-D cores is analyzed. Comparison to dynamical masses of a sub-sample of the Vela-D cores estimated from the 13CO survey of Elia et al. (2007), is complicated by the fact that the 13CO linewidths are likely to trace the lower density intercore material, in addition to the dense gas associated with the compact cores observed by BLAST. In fact, the total internal pressure of these cores, if estimated using the 13CO linewidths, appears to be higher than the cloud ambient pressure. If this were the case, then self-gravity and surface pressure would be insufficient to bind these cores and an additional source of external confinement (e.g., magnetic field pressure) would be required. However, if one attempts to scale down the 13CO linewidths, according to the observations of high-density tracers in a small sample of sources, then most proto-stellar cores would result effectively gravitationally bound.Comment: This paper has 12 pages and 6 figures. Accepted for publication by the Astrophysical Journal on July 19, 201

Suitability of ground-based SfM-MVS for monitoring glacial and periglacial processes

Photo-based surface reconstruction is rapidly emerging as an alternative survey technique to lidar (light detection and ranging) in many fields of geoscience fostered by the recent development of computer vision algorithms such as structure from motion (SfM) and dense image matching such as multi-view stereo (MVS). The objectives of this work are to test the suitability of the ground-based SfM-MVS approach for calculating the geodetic mass balance of a 2.1km2 glacier and for detecting the surface displacement of a neighbouring active rock glacier located in the eastern Italian Alps. The photos were acquired in 2013 and 2014 using a digital consumer-grade camera during single-day field surveys. Airborne laser scanning (ALS, otherwise known as airborne lidar) data were used as benchmarks to estimate the accuracy of the photogrammetric digital elevation models (DEMs) and the reliability of the method. The SfM-MVS approach enabled the reconstruction of high-quality DEMs, which provided estimates of glacial and periglacial processes similar to those achievable using ALS. In stable bedrock areas outside the glacier, the mean and the standard deviation of the elevation difference between the SfM-MVS DEM and the ALS DEM was-0.42 \ub1 1.72 and 0.03 \ub1 0.74 m in 2013 and 2014, respectively. The overall pattern of elevation loss and gain on the glacier were similar with both methods, ranging between-5.53 and + 3.48 m. In the rock glacier area, the elevation difference between the SfM-MVS DEM and the ALS DEM was 0.02 \ub1 0.17 m. The SfM-MVS was able to reproduce the patterns and the magnitudes of displacement of the rock glacier observed by the ALS, ranging between 0.00 and 0.48 m per year. The use of natural targets as ground control points, the occurrence of shadowed and low-contrast areas, and in particular the suboptimal camera network geometry imposed by the morphology of the study area were the main factors affecting the accuracy of photogrammetric DEMs negatively. Technical improvements such as using an aerial platform and/or placing artificial targets could significantly improve the results but run the risk of being more demanding in terms of costs and logistics