Abstract

In this paper we deduce the evolution of a four wheeled active suspension rover from a five wheeled passive suspension rover. The aim of this paper is to design a suspension mechanism which utilizes the advantages of both passive suspension and active suspension rover. Both the design considered here are simpler than the existing suspension mechanisms in the sense that the number of links as wells as the number of joints have been significantly reduced without compromising the climbing capability of the rover. We first analyze the kinematics of the five wheeled rover and its motion pattern while climbing an obstacle and try to deduce the same motion pattern and capability in the four wheeled rover. Both the suspension mechanism consists of two planar closed kinematic chains on each side of the rover. We also deduce the control strategy for the active suspension rover wherein only two actuators are used to control the internal configuration of the rover. To the best of author's knowledge this is the minimum number of actuators required to control the internal configuration of a active suspension while operating on a fully 3D rough terrain. Extensive uneven terrain simulations are performed for both 5-wheeled and 4-wheeled rover and a comparative analysis has been done on maximum coefficient of friction and torque requirements.

Abstract

Incorporating ferromagnetic materials into integrated microwave devices is a promising approach for the development of on-chip high-performance circuit components. Therefore, high-frequency domain-wall motion and magnetization rotation, which yield permeability, are of primary interest. However, so far it has not been attempted to physically separate high-frequency domain-wall motion and magnetization rotation driven by external magnetic field excitation. Nor have attempts for the corresponding characterizations. In this work, patterned permalloy films are integrated with on-chip microstrip lines. Domain-wall motion and magnetization rotation are separated through aspect ratio and dimension control. The measured results show that high-frequency-field driven domain-wall motion is fast, different from current driven domain-wall motion. It is also shown that coupling effects are not important when the distance between two adjacent permalloy films is~ 1 μm despite their large lateral dimensions. Finally, surface topography affects domain structures and corresponding dynamic processes.

Abstract

Identification of base pairs which can participate, through multimodality of edge interactions, in conformational switching events, and evaluation of possible environmental factors responsible for the switching can lead to greater understanding of RNA functional dynamics. Moleculardynamics studies by Schneider et al involving multimodality in C:U W:W cis interactions in aqueous medium, arguments forwarded by Van Dongen et al in support of a pH dependent G:C W:W cis to G:C H:W cis conformational switch and the postulation of putative role of a minor motifs in ribosomal dynamics through structure analysis, are examples of efforts in this section. Here we discuss the computational analysis of a putative pH dependant conformational switching of G:G base pairs in RNA structures.

Abstract

The last two decades have seen increasing interest in the area of controlling dynamics at the atomic level. Among the several approaches used, Optimal Control Theory (OCT) has emerged as a powerful method for designing laser pulses to achieve prescribed dynamical goals. We have used OCT to obtain infrared laser pulses for the selective vibrational excitation of several different systems, from a simple diatomic to triatomics located in complex molecular environments. We use time dependent quantum mechanics to monitor the evolution of the system subject to a varying laser field. We have obtained fields for vibrational control of the diatomic system HF applying OCT using different algorithms, namely an iterative method, conjugate gradient method and genetic algorithms. The time-dependent quantum mechanical propagation of the system is achieved using the split operator form of the time evolution operator together with Fast Fourier transforms and grid methods. For the modelling of FeCO in carboxy-myoglobin, we use a two mathematical dimensional model. Density functional theory is used to obtain the potential energy and dipole moment surfaces of the active site model, while the conjugate gradient method is employed within the OCT optimization procedure to obtain the laser pulses. Optimized laser fields are found which give virtually 100% excitation probability to preselected vibrational levels. A similar application to a hydrogen bonded system of biological significance will also be presented. In all cases, detailed analyses of the field are carried out in terms of its power spectrum and the time variation of the contributions from the frequencies involved.

Abstract

Augmenting virtual objects between real objectsof a video poses a challenging problem, primarily because itnecessitates accurate knowledge of the scene’s depth. In thispaper, we propose an approach that generates an approximatedepth for every pixel in the vicinity of the virtual object, which weshow is enough to decide the ordering of objects in every image.We also draw a similarity between layered segmentation andaugmentation. We argue that augmentation only needs to knowwhich layers are in front of the object and which are behind it.Our algorithm makes effective use of object boundaries detectedin an image using image segmentation. The assumption thatthese boundaries correspond to depth discontinuities provides auseful simplification of the problem, sufficient to produce realisticresults. We use a combination of segmentation and featuredetection for sparse depth assignment. Results on challengingdata sets show the effectiveness of our approach

Abstract

The Oxford/IIIT team participated in the high-level feature extraction and interactive search tasks. A vision only approach was used for both tasks, with no use of the text or audio information. For the high-level feature extraction task, we used two different approaches, both based on a combination of visual features. One used a SVM classifier using a linear combination of kernels, the other used a random forest classifier. For both methods, we trained all high-level features using publicly available annotations [3]. The advantage of the random forest classifier is the speed of training and testing. In addition, for the people feature, we took a more targeted approach. We used a real-time face detector and an upper body detector, in both cases running on every frame. Our best performing submission, C OXVGG 1 1, which used a rank fusion of our random forest and SVM approach, achieved an mAP of 0.101 and was above the median for all but one feature. In the interactive search task, our team came third overall with an mAP of 0.158. The system used was identical to last year with the only change being a source of accurate upper body detections.

Abstract

Web search personalization has been well studied in the recent few years. Relevance feedback has been used in various ways to improve relevance of search results. In this paper, we propose a novel usage of relevance feedback to effectively model the process of query formulation and better characterize how a user relates his query to the document that he intends to retrieve using a noisy channel model. We model a user profile as the probabilities of translation of query to document in this noisy channel using the relevance feedback obtained from the user. The user profile thus learnt is applied in a re-ranking phase to rescore the search results retrieved using an underlying search engine. We evaluate our approach by conducting experiments using relevance feedback data collected from users using a popular search engine. The results have shown improvement over baseline, proving that our approach can be applied to personalization of web search. The experiments have also resulted in some valuable observations that learning these user profiles using snippets surrounding the results for a query gives better performance than learning from entire document collection

Abstract

Biometrics traits such as fingerprints, hand geometry, face and voice verification provide a reliable alternative for identity verification and are gaining commercial and high user acceptibilty rate. Hand geometry based biometric verification has proven to be the most suitable and acceptable biometric trait for medium and low security application. Geometric measurements of the human hand have been used for identity authentication in a number of commercial systems. However not much research has been done in the area of selection of the optimal discriminating features for hand-gemetry based authentication system. In this paper, We argue that the biometric verification problem can be best posed as the single-class problem. We propose to apply Biased Discriminant Analysis and Nonparametric Discriminant Analysis in order to transform the features into a new space where the samples are well separated.

Abstract

In this paper, we present a novel boosted robot vision control algorithm. This method utilizes on-line boosting to produce a strong vision-based robot control starting from two weak algorithms. These weak methods are image-based and position-based visual servoing algorithms. The notion of weak and strong algorithms have been presented in the context of robot vision control. Appropriate error functions are defined for the weak algorithms to evaluate their suitability in the task. The integrated algorithm has superior performance both in image and Cartesian spaces. Experiments validate this claim.

Abstract

In this paper we present a novel real time algorithm to sequentially solve a class of multi-view geometry problems. The triangulation problem is considered as study case. The problem concerns with the estimation of 3D point coordinates given its images as well as the matrices of the concern cameras used in the imaging process. The algorithm has direct application to real time systems like virtual reality, visual SLAM, and visual servoing. Application to visual servoing is considered in detail. Experiments have been carried out for the general triangulation problem as well as the application to visual servoing.