Comparative Study of Different Methods in Vibration-Based Terrain Classification for Wheeled Robots with Shock Absorbers

open access articleAutonomous robots that operate in the field can enhance their security and efficiency by accurate terrain classification, which can be realized by means of robot-terrain interaction-generated vibration signals. In this paper, we explore the vibration-based terrain classification (VTC), in particular for a wheeled robot with shock absorbers. Because the vibration sensors are usually mounted on the main body of the robot, the vibration signals are dampened significantly, which results in the vibration signals collected on different terrains being more difficult to discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade. The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of the existing feature-engineering and feature-learning classification methods; and (2) According to the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM (1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods, which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project; meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method (LSTM) by 8.23%

Lowpass Filtering of Rate-Distortion Functions for Quality Smoothing in Real-Time Video Communication

Digital Object Identifier 10.1109/TCSVT.2005.852417In variable-bit-rate (VBR) video coding, the video is pre-processed to collect sequence-level statistics, which are used for global bit allocation in the actual encoding stage to obtain a smoothed video presentation quality. However, in real-time video recording and network streaming, this type of two-pass encoding scheme is not allowed because the access to future frames and global statistics is not available. To address this issue, we introduce the concept of low-pass filtering of rate-distortion (R-D) functions and develop a smoothed rate control (SRC) framework for real-time video recording and streaming. Theoretically, we prove that, using a geometric averaging filter, the SRC algorithm is able to maintain a smoothed video presentation quality while achieving the target bit rate automatically. We also analyze the buffer requirement of the SRC algorithm in real-time video streaming, and propose a scheme to seamlessly integrate robust buffer control into the SRC framework. The proposed SRC algorithm has very low computational complexity and implementation cost. Our extensive experimental results demonstrate that the SRC algorithm significantly reduces the picture quality variation in the encoded video clips

Transport spectroscopy in a time-modulated open quantum dot

We have investigated the time-modulated coherent quantum transport phenomena in a ballistic open quantum dot. The conductance $G$ and the electron dwell time in the dots are calculated by a time-dependent mode-matching method. Under high-frequency modulation, the traversing electrons are found to exhibit three types of resonant scatterings. They are intersideband scatterings: into quasibound states in the dots, into true bound states in the dots, and into quasibound states just beneath the subband threshold in the leads. Dip structures or fano structures in $G$ are their signatures. Our results show structures due to 2$\hbar\omega$ intersideband processes. At the above scattering resonances, we have estimated, according to our dwell time calculation, the number of round-trip scatterings that the traversing electrons undertake between the two dot openings.Comment: 8 pages, 5 figure

A Blockchain-Based Retribution Mechanism for Collaborative Intrusion Detection

Collaborative intrusion detection approach uses the shared detection signature between the collaborative participants to facilitate coordinated defense. In the context of collaborative intrusion detection system (CIDS), however, there is no research focusing on the efficiency of the shared detection signature. The inefficient detection signature costs not only the IDS resource but also the process of the peer-to-peer (P2P) network. In this paper, we therefore propose a blockchain-based retribution mechanism, which aims to incentivize the participants to contribute to verifying the efficiency of the detection signature in terms of certain distributed consensus. We implement a prototype using Ethereum blockchain, which instantiates a token-based retribution mechanism and a smart contract-enabled voting-based distributed consensus. We conduct a number of experiments built on the prototype, and the experimental results demonstrate the effectiveness of the proposed approach

Clinical and visual outcomes of patients with uveitis in the mid-Atlantic United States

PURPOSE: To report the clinical outcomes of uveitis patients at the University of Virginia. METHODS: Retrospective, observational study of uveitis patients seen at the University of Virginia from 1984 to 2014. Parametric and nonparametric methods were used to analyze the change in best-corrected visual acuity (BCVA) in relation to demographics, diagnoses, management, and complications. RESULTS: The study included 644 eyes of 491 patients. Patients with mild visual loss (logMAR <0.4) at presentation were younger than those with severe visual loss (SVL, logMAR >1.0) (P=0.002). Females were more likely to have mild visual loss as compared to males (P=0.025). Median overall BCVA was logMAR 0.18 at initial and final presentation (P=1.00). Vision loss at diagnosis was a predictor for moderate visual loss (MVL, logMAR 0.4 to <1.0) to SVL at last follow-up (P<0.001). Eyes with ocular hypertension were positively associated with MVL and SVL as compared to normotensive eyes (1.89 times at baseline, 2.62 times at last follow-up). Median BCVA was 0.18 logMAR for the anterior uveitis (AU) and 0.48 logMAR for the non-AU patients (P<0.001). AU patients were less likely to have SVL than non-AU group (P<0.001). AU group received local corticosteroids more frequently and systemic corticosteroids less commonly than non-AU patients (P<0.001). AU patients with MVL to SVL were more likely to have ophthalmic surgery (cataract, glaucoma or pars plana vitrectomy [PPV]) than those without MVL or SVL (P<0.001). Non-AU patients with MVL to SVL were more likely to have PPV than those without MVL or SVL (P=0.001). CONCLUSION: Mean overall BCVA remained stable. Favorable visual results were associated with younger age, female gender, and AU. Poor visual prognosis was concomitant with SVL at presentation and ocular hypertension. Ocular surgery (cataract extraction and glaucoma filtration) was more frequently performed for AU patients with MVL to SVL than those AU patients who did not experience moderate to SVL. PPV was commonly performed for both AU and non-AU patients with MVL to SVL

PLATON II: New Capabilities and a Comprehensive Retrieval on HD 189733b Transit and Eclipse Data

Recently, we introduced PLanetary Atmospheric Tool for Observer Noobs (PLATON), a Python package that calculates model transmission spectra for exoplanets and retrieves atmospheric characteristics based on observed spectra. We now expand its capabilities to include the ability to compute secondary eclipse depths. We have also added the option to calculate models using the correlated-k method for radiative transfer, which improves accuracy without sacrificing speed. Additionally, we update the opacities in PLATON—many of which were generated using old or proprietary line lists—using the most recent and complete public line lists. These opacities are made available at R = 1000 and R = 10,000 over the 0.3–30 μm range, and at R = 375,000 in select near-IR bands, making it possible to utilize PLATON for ground-based high-resolution cross-correlation studies. To demonstrate PLATON's new capabilities, we perform a retrieval on published Hubble Space Telescope (HST) and Spitzer transmission and emission spectra of the archetypal hot Jupiter HD 189733b. This is the first joint transit and secondary eclipse retrieval for this planet in the literature, as well as the most comprehensive set of both transit and eclipse data assembled for a retrieval to date. We find that these high signal-to-noise data are well matched by atmosphere models with a C/O ratio of 0.66^(+0.05)_(−0.09) and a metallicity of 12⁺⁸₋₅ times solar where the terminator is dominated by extended nanometer-sized haze particles at optical wavelengths. These are among the smallest uncertainties reported to date for an exoplanet, demonstrating both the power and the limitations of HST and Spitzer exoplanet observations

Detecting Abrupt Change of Channel Covariance Matrix in IRS-Assisted Communication

The knowledge of channel covariance matrices is crucial to the design of intelligent reflecting surface (IRS) assisted communication. However, channel covariance matrices may change suddenly in practice. This letter focuses on the detection of the above change in IRS-assisted communication. Specifically, we consider the uplink communication system consisting of a single-antenna user (UE), an IRS, and a multi-antenna base station (BS). We first categorize two types of channel covariance matrix changes based on their impact on system design: Type I change, which denotes the change in the BS receive covariance matrix, and Type II change, which denotes the change in the IRS transmit/receive covariance matrix. Secondly, a powerful method is proposed to detect whether a Type I change occurs, a Type II change occurs, or no change occurs. The effectiveness of our proposed scheme is verified by numerical results.Comment: accepted by IEEE Wireless Communications Letter

The first discovery of Tc1 transposons in yeast

Background: Identification of transposons without close homologs is still a difficult task. IS630/Tc1/mariner transposons, classified into a superfamily, are probably the most widespread DNA transposons in nature. Tc1/mariner transposons have been discovered in animals, plants, and filamentous fungi, however, not in yeast.Results: In the present study, we report the discovery of two intact Tc1 transposons in yeast and filamentous fungi, respectively. The first one, named Tc1-OP1 (DD40E), represents Tc1 transposons in Ogataea parapolymorpha. The second one, named Tc1-MP1 (DD34E), represents Tc1 transposons in the Rhizopodaceae and Mucoraceae families. As a homolog of Tc1-OP1 and Tc1-MP1, IS630-AB1 (DD34E) was discovered as an IS630 transposon in Acinetobacter spp.Conclusion: Tc1-OP1 is not only the first reported Tc1 transposon in yeast, but also the first reported nonclassical Tc1 transposon. Tc1-OP1 is the largest of IS630/Tc1/mariner transposons reported to date and significantly different from others. Notably, Tc1-OP1 encodes a serine-rich domain and a transposase, extending the current knowledge of Tc1 transposons. The phylogenetic relationships of Tc1-OP1, Tc1-MP1 and IS630-AB1 indicated that these transposons had evolved from a common ancestor. Tc1-OP1, Tc1-MP1 and IS630-AB1 can be used as reference sequences to facilitate the identification of IS630/Tc1/mariner transposons. More Tc1/mariner transposons will be identified in yeast, following our discovery