Search results for "CLU"

A novel clustering-based algorithm for solving spatially-constrained robotic task sequencing problems

2021

The robotic task sequencing problem (RTSP) appears in various forms across many industrial applications and consists of developing an optimal sequence of motions to visit a set of target points defined in a task space. Developing solutions to problems involving complex spatial constraints remains challenging due to the existence of multiple inverse kinematic solutions and the requirements for collision avoidance. So far existing studies have been limited to relaxed RTSPs involving a small number of target points and relatively uncluttered environments. When extending existing methods to problems involving greater spatial constraints and large sets of target points, they either require subst…

Adaptation, coordination, and local interactions via distributed approachability

2017

This paper investigates the relation between cooperation, competition, and local interactions in large distributed multi-agent\ud systems. The main contribution is the game-theoretic problem formulation and solution approach based on the new framework\ud of distributed approachability, and the study of the convergence properties of the resulting game model. Approachability\ud theory is the theory of two-player repeated games with vector payoffs, and distributed approachability is here presented for\ud the first time as an extension to the case where we have a team of agents cooperating against a team of adversaries under local\ud information and interaction structure. The game model turns i…

Globally Optimal Line Clustering and Vanishing Point Estimation in Manhattan World

2012

The projections of world parallel lines in an image intersect at a single point called the vanishing point (VP). VPs are a key ingredient for various vision tasks including rotation estimation and 3D reconstruction. Urban environments generally exhibit some dominant orthogonal VPs. Given a set of lines extracted from a calibrated image, this paper aims to (1) determine the line clustering, i.e. find which line belongs to which VP, and (2) estimate the associated orthogonal VPs. None of the existing methods is fully satisfactory because of the inherent difficulties of the problem, such as the local minima and the chicken-and-egg aspect. In this paper, we present a new algorithm that solves t…

Addressing the Occlusion Problem in Augmented Reality Environments with Phantom Hollow Objects

2018

Occlusion handling is essential to provide a seamless integration of virtual and real objects in AR applications. Different approaches have been presented with a variety of technologies, environment conditions and methods. Among these methods, 3D model-based occlusion approaches have been extensively used. However, these solutions could be too time-consuming in certain situations, since they must render all the occlusion objects even though they are invisible. For this reason, we propose an inverse 3D model-based solution for handling occlusions, designed for those AR applications in which virtual objects are placed inside a real object with holes or windows. With this restriction, the occl…

Tracking Moving Objects With a Catadioptric Sensor Using Particle Filter

2011

International audience; Visual tracking in video sequences is a widely developed topic in computer vision applications. However, the emergence of panoramic vision using catadioptric sensors has created the need for new approaches in order to track an object in this type of images. Indeed the non-linear resolution and the geometric distortions due to the insertion of the mirror, make tracking in catadioptric images a very challenging task. This paper describes particle filter for tracking moving object over time using a catadioptric sensor. In this work different problems due to the specificities of the catadioptric systems such as geometry are considered. The obtained results demonstrate an…

El ?Alivio de las Indias?. la Real Hacienda Filipina, 1565-1800

2019

Previo al estudio de la Real Hacienda filipina, el trabajo se centrará en la definición del marco territorial, la función del archipiélago en la estrategia imperial y la gran transformación de finales del siglo xVIII que afectó a su situación en el conjunto colonial. En segundo lugar, se expondrá el estado de la cuestión y las principales hipótesis sobre la evolución del Tesoro filipino y los problemas que planteaba su viabilidad, así como las fuentes y la metodología empleadas. A continuación se examinarán las grandes tendencias de la Hacienda en el largo plazo y los componentes del ingreso y el gasto, para finalizar con algunas conclusiones, en especial la respuesta a la siguiente pregunt…

Ensuring the Reliability of an Autonomous Vehicle

2017

International audience; In automotive applications, several components, offering different services, can be composed in order to handle one specific task (autonomous driving for example). Nevertheless, component composition is not straightforward and is subject to the occurrence ofbugs resulting from components or services incompatibilities for instance. Hence, bugs detection in component-based systems at thedesign level is very important, particularly, when the developed system concerns automotive applications supporting critical services.In this paper, we propose a formal approach for modeling and verifying the reliability of an autonomous vehicle system, communicatingcontinuously with of…

Selection of time windows in the horizontal-to-vertical noise spectral ratio by means of cluster analysis

2016

The selection of the elementary analysis windows in continuous noise recordings for optimal estimation of the mean horizontal‐to‐vertical spectral ratio (HVSR) curve is generally performed by visual inspection of HVSR curves considered as functions of time. Starting from full‐length records, HVSR curves are determined in consecutive time windows of appropriate lengths. Time windows with HVSR curves that are anomalous on the basis of a simple visual inspection are generally ignored in the computation of the average HVSR curve. It is often very difficult to optimize the selection of time windows to be used for the calculation of the HVSR curve representative of a site. The use of nonobjective…

Erratum to “Gastric and Rectal Metastases from Malignant Melanoma Presenting with Hypochromic Anemia and Treated with Immunotherapy”

2018

Novel Autotrophic Organisms Contribute Significantly to the Internal Carbon Cycling Potential of a Boreal Lake

2018

ABSTRACT Oxygen-stratified lakes are typical for the boreal zone and also a major source of greenhouse gas emissions in the region. Due to shallow light penetration, restricting the growth of phototrophic organisms, and large allochthonous organic carbon inputs from the catchment area, the lake metabolism is expected to be dominated by heterotrophic organisms. In this study, we test this assumption and show that the potential for autotrophic carbon fixation and internal carbon cycling is high throughout the water column. Further, we show that during the summer stratification carbon fixation can exceed respiration in a boreal lake even below the euphotic zone. Metagenome-assembled genomes an…