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## Über dieses Buch

This book constitutes the refereed proceedings of the 19th Annual Conference on Towards Autonomous Robotics, TAROS 2018, held in Bristol, UK, in July 2018.
The 38 full papers presented together with 14 short papers were carefully reviewed and selected from 68 submissions. The papers focus on presentation and discussion of the latest results and methods in autonomous robotics research and applications. The conference offers a friendly environment for robotics researchers and industry to take stock and plan future progress.

## Inhaltsverzeichnis

### Trajectory Optimization for High-Power Robots with Motor Temperature Constraints

Modeling heat transfer is an important problem in high-power electrical robots as the increase of motor temperature leads to both lower energy efficiency and the risk of motor damage. Power consumption itself is a strong restriction in these robots especially for battery-powered robots such as those used in disaster-response. In this paper, we propose to reduce power consumption and temperature for robots with high-power DC actuators without cooling systems only through motion planning. We first propose a parametric thermal model for brushless DC motors which accounts for the relationship between internal and external temperature and motor thermal resistances. Then, we introduce temperature variables and a thermal model constraint on a trajectory optimization problem which allows for power consumption minimization or the enforcing of temperature bounds during motion planning. We show that the approach leads to qualitatively different motion compared to typical cost function choices, as well as energy consumption gains of up to 40%.

Wei Xin Tan, Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

### SPGS: A New Method for Autonomous 3D Reconstruction of Unknown Objects by an Industrial Robot

This paper presents the first findings of a new method called surface profile guided scan (SPGS) for 3D surface reconstruction of unknown small-scale objects. This method employs a laser profile sensor mounted on an industrial manipulator, a rotary stage, and a camera. The system requires no prior knowledge on the geometry of the object. The only information available is that the object is located on the rotary table, and is within the field of view of the camera and the working space of the industrial robot. First a number of surface profiles in the vertical direction around the object are generated from captured images. Then, a motion planning step is performed to position the laser sensor directed towards the profile normal. Finally, the 3D surface model is completed by hole detection and scanning process. The quality of surface models obtained from real objects with our system prove the effectiveness and the versatility of our 3D reconstruction method.

Cihan Uyanik, Sezgin Secil, Metin Ozkan, Helin Dutagaci, Kaya Turgut, Osman Parlaktuna

### A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System

A modified computed torque controller, adapted from the standard computed torque control law, is presented in this paper. The proposed approach is demonstrated on a 4-degree of freedom (DOF) master-slave robot manipulator and the modified computed torque controller gain parameters are optimized using both particle swarm optimization (PSO) and grey-wolf optimization algorithms. The feasibility of the proposed controller is tested experimentally and compared with its standard computed torque control counterpart. Controller tuning/optimization is carried out offline in the MATLAB/Simulink environment, and results show that the proposed controller is feasible, and performs impressively.

### Data Synthesization for Classification in Autonomous Robotic Grasping System Using ‘Catalogue’-Style Images

The classification and grasping of randomly placed objects where only a limited number of training images are available, remains a challenging problem. Approaches such as data synthesis have been used to synthetically create larger training data sets from a small set of training data and can be used to improve performance. This paper examines how limited product images for ‘off the shelf’ items can be used to generate a synthetic data set that is used to train a that allows classification of the item, segmentation and grasping. Experiments investigating the effects of data synthesis are presented and the subsequent trained network implemented in a robotic system to perform grasping of objects.

Michael Cheah, Josie Hughes, Fumiya Iida

### BounceBot: A One-Legged Jumping Robot

This paper describes the design and development of a jumping robot made from readily available components and 3D printed parts. This robot is designed to traverse obstacles that are too large for conventional locomotion methods, utilising elastic potential energy to store and release kinetic energy at differing rates. Rapidly releasing built up energy in this manner enables a small light-weight actuator to exceed its continuous torque output. This is used to accelerate the robot vertically and jump over an obstacle up to ten times its own height. Use of soft 3D printed materials allow for the robot to resist the impact caused by landing onto/jumping into obstacles. Due to its performance and availability/cost of its parts, this prototype provides a good platform for further research into this viable yet under-developed locomotion method. As the design is open source, researchers are free to use the details contained in this report along with the documentation available online. The concept can be used in a range of situations involving locomotion over uneven terrain. Potential projects include hazardous disaster site evaluation, planet exploration, and search and rescue.

James Rogers, Katherine Page-Bailey, Ryan Smith

### Estimating Grasping Patterns from Images Using Finetuned Convolutional Neural Networks

Identification of suitable grasping pattern for numerous objects is a challenging computer vision task. It plays a vital role in robotics where a robotic hand is used to grasp different objects. Most of the work done in the area is based on 3D robotic grippers. An ample amount of work could also be found on humanoid robotic hands. However, there is negligible work on estimating grasping patterns from 2D images of various objects. In this paper, we propose a novel method to learn grasping patterns from images and data recorded from a dataglove, provided by the TUB Dataset. Our network retrains, a pre-trained deep Convolutional Neural Network (CNN) known as AlexNet, to learn deep features from images that correspond to human grasps. The results show that there are some interesting grasping patterns which are learned. In addition, we use two methods, Support Vector Machines (SVM) and hotelling’s T2 test to demonstrate that the dataset does include distinctive grasps for different objects. The results show promising grasping patterns that resembles actual human grasps.

Ashraf Zia, Bernard Tiddeman, Patricia Shaw

### Easy Undressing with Soft Robotics

Dexterity impairments affect many people worldwide, limiting their ability to easily perform daily tasks and to be independent. Difficulty getting dressed and undressed is commonly reported. Some research has been performed on robot-assisted dressing, where an external device helps the user put on and take off clothes. However, no wearable robotic technology or robotic assistive clothing has yet been proposed that actively helps the user dress. In this article, we introduce the concept of Smart Adaptive Clothing, which uses Soft Robotic technology to assist the user in dressing and undressing. We discuss how Soft Robotic technologies can be applied to Smart Adaptive Clothing and present a proof of concept study of a Pneumatic Smart Adaptive Belt. The belt weighs only 68 g, can expand by up to 14% in less than 6 s, and is demonstrated aiding undressing on a mannequin, achieving an extremely low undressing time of 1.7 s.

Tim Helps, Majid Taghavi, Sarah Manns, Ailie J. Turton, Jonathan Rossiter

### Biomimetic Knee Design to Improve Joint Torque and Life for Bipedal Robotics

This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 in and a range of motion of 151°. This should reduce wear and perform similar to the human knee. Prototypes of the joint have been created to test these predicted properties.

Alexander G. Steele, Alexander Hunt, Appolinaire C. Etoundi

### Evaluating the Radiation Tolerance of a Robotic Finger

In 2024, The Large Hadron Collider (LHC) at CERN will be upgraded to increase its luminosity by a factor of 10 (HL-LHC). The ATLAS inner detector (ITk) will be upgraded at the same time. It has suffered the most radiation damage, as it is the section closest to the beamline, and the particle collisions. Due to the risk of excessive radiation doses, human intervention to decommission the inner detector will be restricted. Robotic systems are being developed to carry out the decommissioning and limit radiation exposure to personnel. In this paper, we present a study of the radiation tolerance of a robotic finger assessed in the Birmingham Cyclotron facility. The finger was part of the Shadow Grasper from Shadow Robot Company, which uses a set of Maxon DC motors.

Richard French, Alice Cryer, Gabriel Kapellmann-Zafra, Hector Marin-Reyes

### Soft Pneumatic Prosthetic Hand

Conventional prosthetic devices are heavy, expensive and rigid. They are complex, fragile and require sophisticated control strategies in order to deal with the grasping and manipulation tasks. In this paper we propose a new pneumatic soft prosthetic hand that is very simple to control due to its compliant structure and cheap in production. It is designed to be easily reshaped and resized to adapt easily to each individual user preferences. It is designed to be frequently changed whenever a child patient require a bigger size or whenever the old one is worn out or broken. Since it is soft and compliant it can be safely used even by small children without a risk of harmful mechanical interaction.

Jan Fras, Kaspar Althoefer

### Tabu Temporal Difference Learning for Robot Path Planning in Uncertain Environments

This paper addresses the robot path planning problem in uncertain environments, where the robot has to avoid potential collisions with other agents or obstacles, as well as rectify actuation errors caused by environmental disturbances. This problem is motivated by many practical applications, such as ocean exploration by underwater vehicles, and package transportation in a warehouse by mobile robots. The novel feature of this paper is that we propose a Tabu methodology consisting of an Adaptive Action Selection Rule and a Tabu Action Elimination Strategy to improve the classic Temporal Difference (TD) learning approach. Furthermore, two classic TD learning algorithms (i.e., Q-learning and SASRA) are revised by the proposed Tabu methodology for optimizing learning performance. We use a simulated environment to evaluate the proposed algorithms. The results show that the proposed approach can provide an effective solution for generating collision-free and safety paths for robots in uncertain environments.

Changyun Wei, Fusheng Ni

### Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

We present a time-dependent probabilistic map able to model and predict flow patterns of people in indoor environments. The proposed representation models the likelihood of motion direction on a grid-based map by a set of harmonic functions, which efficiently capture long-term (minutes to weeks) variations of crowd movements over time. The evaluation, performed on data from two real environments, shows that the proposed model enables prediction of human movement patterns in the future. Potential applications include human-aware motion planning, improving the efficiency and safety of robot navigation.

Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, Tom Duckett

### Extending Deep Neural Network Trail Navigation for Unmanned Aerial Vehicle Operation Within the Forest Canopy

Autonomous flight within a forest canopy represents a key challenge for generalised scene understanding on-board a future Unmanned Aerial Vehicle (UAV) platforms. Here we present an approach for automatic trail navigation within such an unstructured environment that successfully generalises across differing image resolutions - allowing UAV with varying sensor payload capabilities to operate equally in such challenging environmental conditions. Specifically, this work presents an optimised deep neural network architecture, capable of state-of-the-art performance across varying resolution aerial UAV imagery, that improves forest trail detection for UAV guidance even when using significantly low resolution images that are representative of low-cost search and rescue capable UAV platforms.

Bruna G. Maciel-Pearson, Patrice Carbonneau, Toby P. Breckon

### Virtual Environment for Training Autonomous Vehicles

Driver assistance and semi-autonomous features are regularly added to commercial vehicles with two key stakes: collecting data for training self-driving algorithms, and using these vehicles as testbeds for these algorithms. Due to the nature of algorithms used in autonomous vehicles, their behavior in unknown situation is not fully predictable. This calls for extensive testing. In this paper, we propose to use a virtual environment for both testing algorithms for autonomous vehicles and acquiring simulated data for their training. The benefit of this environment is to able to train algorithms with realistic simulated sensor data before their deployment in real life. To this end, the proposed virtual environment has the capacity to generate similar data than real sensors (e.g. cameras, LiDar, ...). After reviewing state-of-the-art techniques and datasets available for the automotive industry, we identify that dynamic data generated on-demand is needed to improve the current results in training autonomous vehicles. Our proposition describes the benefits a virtual environment brings in improving the development, quality and confidence in the algorithms.

Jerome Leudet, Tommi Mikkonen, François Christophe, Tomi Männistö

### Comparing Model-Based and Data-Driven Controllers for an Autonomous Vehicle Task

The advent of autonomous vehicles comes with many questions from an ethical and technological point of view. The need for high performing controllers, which show transparency and predictability is crucial to generate trust in such systems. Popular data-driven, black box-like approaches such as deep learning and reinforcement learning are used more and more in robotics due to their ability to process large amounts of information, with outstanding performance, but raising concerns about their transparency and predictability. Model-based control approaches are still a reliable and predictable alternative, used extensively in industry but with restrictions of their own. Which of these approaches is preferable is difficult to assess as they are rarely directly compared with each other for the same task, especially for autonomous vehicles. Here we compare two popular approaches for control synthesis, model-based control i.e. Model Predictive Controller (MPC), and data-driven control i.e. Reinforcement Learning (RL) for a lane keeping task with speed limit for an autonomous vehicle; controllers were to take control after a human driver had departed lanes or gone above the speed limit. We report the differences between both control approaches from analysis, architecture, synthesis, tuning and deployment and compare performance, taking overall benefits and difficulties of each control approach into account.

Erwin Jose Lopez Pulgarin, Tugrul Irmak, Joel Variath Paul, Arisara Meekul, Guido Herrmann, Ute Leonards

### An Improved Robot Path Planning Model Using Cellular Automata

Bio-inspired techniques have been successfully applied to the path-planning problem. Amongst those techniques, Cellular Automata (CA) have been seen a potential alternative due to its decentralized structure and low computational cost. In this work, an improved CA model is implemented and evaluated both in simulation and real environments using the e-puck robot. The objective was to construct a collision-free path plan from the robot initial position to the target position by applying the refined CA model and environment pre-processed images captured during its navigation. The simulations and real experiments show promising results on the model performance for a single robot.

Luiz G. A. Martins, Rafael da P. Cândido, Mauricio C. Escarpinati, Patricia A. Vargas, Gina M. B. de Oliveira

### Colias IV: The Affordable Micro Robot Platform with Bio-inspired Vision

Vision is one of the most important sensing modalities for robots and has been realized on mostly large platforms. However for micro robots which are commonly utilized in swarm robotic studies, the visual ability is seldom applied or with reduced functions/resolution, due to the high demanding on the computation power. This research has proposed the low-cost micro ground robot Colias IV, which is particularly designed to meet the requirements to allow embedded vision based tasks on-board, such as bio-inspired collision detection neural networks. Numerous of successful approaches have demonstrated that the proposed micro robot Colias IV to be a feasible platform for introducing visual based algorithms into swarm robotics.

Cheng Hu, Qinbing Fu, Shigang Yue

### ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction

In this work, we propose a novel mobile rescue robot equipped with an immersive stereoscopic teleperception and a teleoperation control. This robot is designed with the capability to perform safely a casualty-extraction procedure. We have built a proof-of-concept mobile rescue robot called ResQbot for the experimental platform. An approach called “loco-manipulation” is used to perform the casualty-extraction procedure using the platform. The performance of this robot is evaluated in terms of task accomplishment and safety by conducting a mock rescue experiment. We use a custom-made human-sized dummy that has been sensorised to be used as the casualty. In terms of safety, we observe several parameters during the experiment including impact force, acceleration, speed and displacement of the dummy’s head. We also compare the performance of the proposed immersive stereoscopic teleperception to conventional monocular teleperception. The results of the experiments show that the observed safety parameters are below key safety thresholds which could possibly lead to head or neck injuries. Moreover, the teleperception comparison results demonstrate an improvement in task-accomplishment performance when the operator is using the immersive teleperception.

Roni Permana Saputra, Petar Kormushev

### Seeing the Unseen: Locating Objects from Reflections

Inspired by the ubiquitous use of reflections in human vision system, in this paper, we present our first step exploration of using reflections to extend the FOV of cameras in computer vision applications. We make use of a stereo camera, and establish mathematical models for locating objects from their mirror reflections. We also propose a pipeline to track and locate moving objects from their reflections captured in videos. Experimental results demonstrated the efficiency and effectiveness of the proposed method, and verified the potential use of reflections in locating non-line of sight (NLOS) objects.

Jing Wu, Ze Ji

### The Effect of Pose on the Distribution of Edge Gradients in Omnidirectional Images

Images from omnidirectional cameras are used frequently in applications involving artificial intelligence and robotics as a source of rich information about the surroundings. A useful feature that can be extracted from these images is the distribution of gradients of the edges in the scene. This distribution is affected by the pose of the camera on-board a robot at any given location in the environment. This paper investigates the effect of the pose on this distribution. The gradients in the images are extracted and arranged into a histogram which is then compared to the histograms of other images using a chi-squared test. It is found that any differences in the distribution are not specific to either the position or orientation and that there is a significant difference in the distributions of two separate locations. This can aid in the localisation of robots when navigating.

Dean Jarvis, Theocharis Kyriacou

### Learning to Listen to Your Ego-(motion): Metric Motion Estimation from Auditory Signals

This paper is about robot ego-motion estimation relying solely on acoustic sensing. By equipping a robot with microphones, we investigate the possibility of employing the noise generated by the motors and actuators of the vehicle to estimate its motion. Audio-based odometry is not affected by the scene’s appearance, lighting conditions, and structure. This makes sound a compelling auxiliary source of information for ego-motion modelling in environments where more traditional methods, such as those based on visual or laser odometry, are particularly challenged. By leveraging multi-task learning and deep architectures, we provide a regression framework able to estimate the linear and the angular velocity at which the robot has been travelling. Our experimental evaluation conducted on approximately two hours of data collected with an unmanned outdoor field robot demonstrated an absolute error lower than 0.07 m/s and 0.02 rad/s for the linear and angular velocity, respectively. When compared to a baseline approach, making use of single-task learning scheme, our system shows an improvement of up to 26% in the ego-motion estimation.

Letizia Marchegiani, Paul Newman

### Piloting Scenarios for Children with Autism to Learn About Visual Perspective Taking

Visual Perspective Taking (VPT) is the ability to see the world from another person’s perspective, taking into account what they see and how they see it, drawing upon both spatial and social information. Children with autism often find it difficult to understand that other people might have perspectives, viewpoints, beliefs and knowledge that are different from their own which is a fundamental aspect VPT. In this paper, we present the piloting of scenarios for our first large scale pilot-study using a humanoid robot to assist children with autism develop their VPT skills. The games were implemented with the Kaspar robot and to our knowledge this is the first attempt to improve the VPT skills of children with autism through playing and interacting with a humanoid robot.

Luke Jai Wood, Ben Robins, Gabriella Lakatos, Dag Sverre Syrdal, Abolfazl Zaraki, Kerstin Dautenhahn

### User Detection, Tracking and Recognition in Robot Assistive Care Scenarios

The field of assistive robotics is gaining traction in both research as well as industry communities. However, capabilities of existing robotic platforms still require improvements in order to implement meaningful human-robot interactions. We report on the design and implementation of an external system that significantly augments the person detection, tracking and identification capabilities of the Pepper robot. We perform a qualitative analysis of the improvements achieved by each system module under different interaction conditions and evaluate the whole system on hand of a scenario for elderly care assistance.

Ştefania Alexandra Ghiţă, Miruna-Ştafania Barbu, Alexandru Gavril, Mihai Trăscău, Alexandru Sorici, Adina Magda Florea

### Hypertonic Saline Solution for Signal Transmission and Steering in MRI-Guided Intravascular Catheterisation

Use of traditional low-impedance sensor leads is highly undesirable in intravascular catheters to be used with MRI guidance; thermal safety and quality of imaging are particularly impacted by these components. In this paper, we are showing that hypertonic saline solution, a high-impedance body-like fluid, could be a compatible and effective signal transmission medium when used in MRI-compatible catheters. We also propose a simple type of catheter design that can be steered hydraulically using the same saline solution. Integration of hydraulic steering is not required for MRI-compatibility; however efficient design can bring advantages in terms of structural simplicity and miniaturisation. Manufacturing of proof-of-concept prototypes using 3D printing is underway.

Alberto Caenazzo, Kaspar Althoefer

### A Conceptual Exoskeleton Shoulder Design for the Assistance of Upper Limb Movement

There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskeletal structures found in humans, reproducing existing behaviors and capabilities. The current work is expanding on existing systems with a novel design that ensures the maximum range of motion while at the same time allowing for lockable features ensuring higher manipulation payloads at minimum energy and fatigue costs. An analysis of the biomechanics of the shoulder is being done and a detailed system design for structural as well actuation elements of a parallel mechanism is given. The benefits for the use are discussed of reduced weight, maximum range of motion at minimum energy cost.

Carlos Navarro Perez, Ioannis Georgilas, Appolinaire C. Etoundi, Jj Chong, Aghil Jafari

### A Hormone Arbitration System for Energy Efficient Foraging in Robot Swarms

Keeping robots optimized for an environment can be computationally expensive, time consuming, and sometimes requires information unavailable to a robot swarm before it is assigned to a task. This paper proposes a hormone-inspired system to arbitrate the states of a foraging robot swarm. The goal of this system is to increase the energy efficiency of food collection by adapting the swarm to environmental factors during the task. These adaptations modify the amount of time the robots rest in a nest site and how likely they are to return to the nest site when avoiding an obstacle. These are both factors that previous studies have identified as having a significant effect on energy efficiency. This paper proposes that, when compared to an offline optimized system, there are a variety of environments in which the hormone system achieves an increased performance. This work shows that the use of a hormone arbitration system can extrapolate environmental features from stimuli and use these to adapt.

James Wilson, Jon Timmis, Andy Tyrrell

### A Bio-inspired Aggregation with Robot Swarm Using Real and Simulated Mobile Robots

This paper presents an implementation of a bio-inspired aggregation scenario using swarm robots. The aggregation scenario took inspiration from honeybee’s thermotactic behaviour in finding an optimal zone in their comb. To realisation of the aggregation scenario, real and simulated robots with different population sizes were used. Mona, which is an open-source and open-hardware platform was deployed to play the honeybee’s role in this scenario. A model of Mona was also generated in Stage for simulation of aggregation scenario with large number of robots. The results of aggregation with real- and simulated-robots showed reliable aggregations and a population dependent swarm performance. Moreover, the results demonstrated a direct correlation between the results observed from the real robot and simulation experiments.

Sarika Ramroop, Farshad Arvin, Simon Watson, Joaquin Carrasco-Gomez, Barry Lennox

### SO-MRS: A Multi-robot System Architecture Based on the SOA Paradigm and Ontology

A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic functionality. The architecture is based on the paradigm of Service Oriented Architecture (SOA), and a generic representation (ontology) of the environment. A device (e.g. robot) is seen as a collection of its capabilities exposed as services. Generic protocols for publishing, discovering, arranging services are proposed for creating composite services that can accomplish complex tasks in an automatic way. Also generic protocols for execution of composite services are proposed along with simple protocols for monitoring the executions, and for recovery from failures. The proposed architecture and generic protocols were implemented as a software platform, and tested for several multi-robot systems.

Kamil Skarzynski, Marcin Stepniak, Waldemar Bartyna, Stanislaw Ambroszkiewicz

### ROS Integration for Miniature Mobile Robots

In this paper, the feasibility of using the Robot Operating System (ROS) for controlling miniature size mobile robots was investigated. Open-source and low-cost robots employ limited processors, hence running ROS on such systems is very challenging. Therefore, we provide a compact, low-cost, and open-source module enabling miniature multi and swarm robotic systems of different sizes and types to be integrated with ROS. To investigate the feasibility of the proposed system, several experiments using a single robot and multi-robots were implemented and the results demonstrated the amenability of the system to be integrated in low-cost and open-source miniature size mobile robots.

Andrew West, Farshad Arvin, Horatio Martin, Simon Watson, Barry Lennox

### Feature and Performance Comparison of the V-REP, Gazebo and ARGoS Robot Simulators

In this paper, the characteristics and performance of three open-source simulators for robotics, V-REP, Gazebo and ARGoS, are thoroughly analysed and compared. While they all allow for programming in C++, they also represent clear alternatives when it comes to the trade-off between complexity and performance. Attention is given to their built-in features, robot libraries, programming methods and the usability of their user interfaces. Benchmark test results are reported in order to identify how well the simulators can cope with environments of varying complexity. The richness of features of V-REP and the strong performance of Gazebo and ARGoS in complex scenes are highlighted. Various usability issues of Gazebo are also noted.

Lenka Pitonakova, Manuel Giuliani, Anthony Pipe, Alan Winfield

### A Hybrid Underwater Acoustic and RF Localisation System for Enclosed Environments Using Sensor Fusion

Underwater localisation systems are traditionally based on acoustic range estimation, which lacks the accuracy to localise small underwater vehicles in enclosed structured environments for mapping and surveying purposes. The high attenuation of electromagnetic waves underwater can be exploited to obtain a more precise distance estimation over short distances. This work proposes a cooperative localisation system that combines an acoustic absolute localisation system with peer-to-peer distance estimation based on electromagnetic radio frequency (RF) attenuation between multiple robots. The proposed system is able to improve the position estimation of a group of Autonomous Underwater Vehicles (AUVs) or Remote Operated Vehicles (ROVs) for exploring enclosed environments.

Jose Espinosa, Mihalis Tsiakkas, Dehao Wu, Simon Watson, Joaquin Carrasco, Peter R. Green, Barry Lennox

### Towards a Comprehensive Taxonomy for Characterizing Robots

Every day a new robot is developed with advanced characteristics and technical qualities. The increasingly rapid growth of robots and their characteristics demands bridging between the application requirements and the robot specifications. This process requires a supporting conceptual structure that can capture as many robot qualities as possible. Presenting robot characteristics through the proposed conceptual structure would enable designers to optimize robot capabilities against application requirements. It would also help application developers to select the most appropriate robot. Without a formal structure, an accurate linking between the robot domain and the application domain is not possible. This paper presents a novel theoretical representation that can capture robot features and capabilities and express them as descriptive dimensions to be used to develop a capability profile. The profile is intended to unify robot description and presentation. The proposed structure is reinforced with several layers, sections, categorizations and levels to allow a detailed explanation of robot characteristics. It is hoped that the proposed structure will influence the design, development, and testing of robots for specific applications. At the same time, it would help in highlighting the corresponding outlines in robot application requirements.

Manal Linjawi, Roger K. Moore

### Implementation and Validation of Kalman Filter Based Sensor Fusion on the Zorro Mini-robot Platform

This paper focuses on the implementation of a Kalman filter for a sensor fusion task and the testing and validation of the implementation by using a test platform. Implementation device for the sensors and the fusion algorithm is the mini-robot platform Zorro that is equipped with multiple sensors. In order to internally develop a consistent model of the robot’s world sensor data has to be fused. The fused data is used to control the behavior of the robot that should be able to act autonomously. To test the sensor fusion and the resulting behavior a Teleworkbench test system has been developed that supports video recording and analysis of the robot’s behavior complemented by wireless transmission of robot’s internal sensor and state data. Both, the video data and the sensor data are matched and displayed at operator’s computer of the Teleworkbench system for detailed analysis.

Philipp Bolte, Joyce Martin, Reza Zandian, Ulf Witkowski

### Evaluation of a Robot-Assisted Therapy for Children with Autism and Intellectual Disability

It is well established that robots can be suitable assistants in the care and treatment of children with Autism Spectrum Disorder (ASD). However, the majority of the research focuses on stand-alone interventions, high-functioning individuals and the success is evaluated via qualitative analysis of videos recorded during the interaction.In this paper, we present a preliminary evaluation of our on-going research on integrating robot-assisted therapy in the treatment of children with ASD and Intellectual Disability (ID), which is the most common case. The experiment described here integrates a robot-assisted imitation training in the standard treatment of six hospitalised children with various level of ID, who were engaged by a robot on imitative tasks and their progress assessed via a quantitative psycho-diagnostic tool. Results show success in the training and encourage the use of a robotic assistant in the care of children with ASD and ID with the exception of those with profound ID, who may need a different approach.

Daniela Conti, Grazia Trubia, Serafino Buono, Santo Di Nuovo, Alessandro Di Nuovo

### Towards an Unmanned 3D Mapping System Using UWB Positioning

The work presented in this paper is part of a Horizon 2020 project known as DigiArt, with an aim to deploy an unmanned ground vehicle (UGV) mounted with a 3D scan LiDAR to generate 3D maps of an archaeological subterranean environment. The challenges faced when using 3D scan LiDAR is the ability to localize the LiDAR device and account for motion to register sequential point cloud frames. Traditionally approaches such as GPS and vision based systems are unsuitable for the intended environment due to signal restrictions and low lighting conditions respectively. Therefore, this paper seeks to assess an alternative method in the form of ultra-wideband (UWB) positioning system known as Pozyx. Experimental results show an average distance error of 4.8 cm, 10 cm, 6.5 cm and 8.3 cm for clear line of sight (CLOS) and 11 cm, 10 cm, 13.8 cm and 24 cm for non-clear line of sight (NCLOS) when the receiver is orientated at for 90$$^\circ$$∘, 60$$^\circ$$∘, 30$$^\circ$$∘ and 0$$^\circ$$∘ respectively.

Benjamin McLoughlin, Jeff Cullen, Andy Shaw, Frederic Bezombes

### The Multimodal Speech and Visual Gesture (mSVG) Control Model for a Practical Patrol, Search, and Rescue Aerobot

This paper describes a model of the multimodal speech and visual gesture (mSVG) control for aerobots operating at higher nCA autonomy levels, within the context of a patrol, search, and rescue application. The developed mSVG control architecture, its mathematical navigation model, and some high level command operation models were discussed. This was successfully tested using both MATLAB simulation and python based ROS Gazebo UAV simulations. Some limitations were identified, which formed the basis for the further works presented.

Ayodeji O. Abioye, Stephen D. Prior, Glyn T. Thomas, Peter Saddington, Sarvapali D. Ramchurn

### Camera-Based Force and Tactile Sensor

Tactile information has become a topic of great interest in the design of devices that explore the physical interaction with the external environment. For instance, it is important for a robot hand to perform manipulation tasks, such as grasping and active touching, using tactile sensors mounted on the finger pad to provide feedback information. In this research we present a novel device that obtains both force and tactile information in a single integrated elastomer. The proposed elastomer consists of two parts, one of which is transparent and is wrapped in another translucent one that has eight conical sensing elements underneath. Two parts are merged together via a mould. A CCD camera is mounted at the bottom of the device to record the images of two elastomer mediums illuminated by the LED arrays set inside of the device. The method consists of evaluating the state of the contact surface based on analysis of the image of two elastomers. The external deformation of the elastomer is used to measure three force components Fz, Mx and My. The measurement is based on the area changes of the conical sensing elements under different loads, while the image of the inner transparent elastomer captures the surface pattern, which can used to obtain tactile information.

Wanlin Li, Jelizaveta Konstantinova, Yohan Noh, Akram Alomainy, Kaspar Althoefer

### Backmatter

Weitere Informationen


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## Computational definitions for interesting complex functions [closed]

I'm after a reading source for a set of 'interesting' functions $f:\mathbb{C}^m \rightarrow \mathbb{C}$, complete with definitions that can be used to compute them numerically.

I'm looking for functions bearing graphs with interesting (read: varied) behaviour, or that can be composed in order to generate more diverse ones.

An example building block is the exp function which we can define as

$e^{a \ + \ ib} = e^{a} \ (\cos a + i\sin b)$

which can be immediately implemented numerically.

Functions

• like exp, that can be defined in terms of real ones;
• that have some known algorithm for computing the complex components;
• that are defined in terms of others in the list,

are good.

Does anyone know of a 'list' of such common/interesting computable functions, from books or web (preferably)? Making it up on the spot is good too.

Apologies for the lack of formality :) Thanks!

-
Even though this looks like a fishing expedition, I will mention hypergeometric functions. Voting to close. – Steve Huntsman Jul 7 2010 at 22:04
Interesting thanks! Let's not close it before we have a few fish in the bucket :-) – Mau Jul 7 2010 at 22:08
I'm not convinced that "varied behavior", even if made precise, is a good criterion for a function being interesting. In any case, I think perusing dlmf.nist.gov will answer this question. – jc Jul 7 2010 at 22:25
I can't see how this is a mathematical question; it looks like an aesthetic one to me. Voting to close. – Qiaochu Yuan Jul 8 2010 at 0:03
I don't think this question is so bad. All of the standard "closed-form" functions are built from sum, negation, product, and exp. It's natural to ask for some other, more general functions that have some of the same nice properties as the elementary functions, and certainly one of these properties is that they are not too hard to compute. – Charles Staats Jul 8 2010 at 2:05

format: plain


text:
Here's the question you clicked on:

DribleDaVaca19 Group Title Which matrix equation can be used to solve the system? Will draw it. one year ago one year ago

• This Question is Closed
1. DribleDaVaca19 Group Title

|dw:1370965723891:dw|

2. amistre64 Group Title

Ax = b x = A^(-1) b might be one of the options

3. amistre64 Group Title

they was nice enough to give you a determinant of 1 ... how sweet

4. DribleDaVaca19 Group Title

i have 4 answers

5. amistre64 Group Title

the answers might help us determine a suitable soluton process

6. DribleDaVaca19 Group Title

|dw:1370966096557:dw|

7. amistre64 Group Title

ax + by = n cx + cy = m matrix A = a b c d vector b = n m so yeah, they are looking for an inverse setup

8. DribleDaVaca19 Group Title

|dw:1370966191827:dw|

9. amistre64 Group Title

do you recall how to find the inverse of a 2x2 matrix?

10. amistre64 Group Title

the shorcut involves a swap and some negations, youll also need a determinant

11. DribleDaVaca19 Group Title

never mind I found it out, thx anyways

12. amistre64 Group Title

$\begin{pmatrix}a&b\\c&d\end{pmatrix}^{-1}=\begin{pmatrix}d/|A|&-b/|A|\\-c/|A|&a/|A|\end{pmatrix}$


text:
Originally Posted by amorton1437
I hold it in place and position it under the foot, sew a zig zag, back stitch and then do a straight stitch, turn it, stitch along the elastic and once I get to where I want the other end of the elastic should be, I turn the diaper to the side, then I pull it as tight as I need to and do a zig zag to the edge and then back stitch and straight stitch. Then I cut the elastic. I dont pre-cut the elastic, I always messed it up that way, so I just leave it full length and then trim.
Interesting! How do you pull it through to the other end?


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# Navigation Stack Evaluation

## Running the evaluation tests

1. Running NavSim

If you are using NavSim as the simulator for evaluation, you need to start NavSim first before running the tests. If you are using flatsim as the simulator, skip this step.

To create the NavSim binary containing all scenes for evaluation, run the following:

This script creates a NavSim binary, navigation_evaluation.x86_64, in ~/isaac_sim_unity3d/projects/navigation_evaluation/Builds. Now, run the following:

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A black Unity window should appear. This means NavSim is running and waiting for an Isaac application to connect. Continue to the next step.

If you are working on a new scene, you may also want to run the tests in Unity Editor directly.

However, you can only run the tests that use the currently active scene in the Unity Editor. If you want to run all the tests with Unity Editor, you need to load all the scenes used in the tests into Unity’s build setting. This can be done using the Editor toolbar - Isaac - Open Scenes on List, and choose packages/nvidia_qa/navigation_evaluation/navsim_scenes.json, assuming all the test scenes are already included in the json file.

2. Running ROS Navigation Stack

If you want to evaluate Isaac Navigation Stack, skip this step. For ROS Navigation stack, please follow the instructions at ROS Bridge to install ROS and verify the bridge is functional. If you have installed a distro other than melodic, please modify “source /opt/ros/melodic/setup.bash” commands in packages/nvidia_qa/navigation_evaluation/*.json accordingly.

Note

ROS navigation can’t be run over ssh since rviz requires a display.

3. Running the evaluation tests:

Deploy the navigation_evaluation-pkg (from the sdk/ subdirectory):

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~/deploy/bob/navigation_evaluation-pkg: ./run ./packages/nvidia_qa/navigation_evaluation/batch_execution.py or this for ROS evaluation:

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~/deploy/bob/navigation_evaluation_ros-pkg: ./run ./packages/nvidia_qa/navigation_evaluation/batch_execution.py --app packages/nvidia_qa/navigation_evaluation/ros_navigation_with_flatsim.app.json --test packages/nvidia_qa/navigation_evaluation/tests_ros.json .. note:: If you do not have ROS installed, this command may result in errors. If you are not evaluating ROS, you may delete the associated dependencies from the BUILD file. This script by default runs isaac_navigation_with_flatsim.app.json over a list of tests specified in tests_manual.json in packages/nvidia_qa/navigation_evaluation, and writes the log files to the /tmp/navigation_evaluation folder. For each test, an application json, a monitor log, and performance reports are created. Both filenames start with the uuid of the application. After all the tests are finished, the summary file evaluation_result.json is created containing test results. The results include the uuid of each test, which can be used to identify the log and performance files for the test. =============================== ==================================================================== Command Line Options Description =============================== ==================================================================== :code:-a,--app Application json filename to run the tests with. Default to packages/nvidia_qa/navigation_evaluation/isaac_navigation_with_flatsim.app.json :code:-n,--node Full name of the node in the application graph to monitor for success and failure. Default is behavior_main. This node should be able to report success or failure when the navigation stack under test reaches such states. :code:-o,--output Output folder for the log files. Default to /tmp/navigation_evaluation :code:-t,--test A json file specifying all the tests to run. Default to packages/nvidia_qa/navigation_evaluation/tests_manual.json :code:-s,--selector A comma-separated list of indices of tests to run. Default to a empty string, in which case all tests in the file are run. :code:-e,--expiration A hard limit on time in seconds for each test to run. Default to 300. =============================== ==================================================================== Each test is performed by creating a new Isaac application with the test parameters specified in tests_manual.json. The application is run in a separate process until a termination condition is reached. A test is terminated if one of the following condition is met: the monitored node reports success or failure; the application crashes; the application runtime exceeds expiration. Four sample test jsons are included: tests_manual has a small number of manually created scenarios for sanity check, tests_random has six scenes and twenty randomly-generated scenarios for each scene. Both set of tests can be run with either flatsim or NavSim. tests_flatsim_only contains maps in apps/assets/maps, some of them created by gmapping. This set should only be run with flatsim as the corresponding scene does not exist in NavSim. For now, ROS navigation stack can only be evaluated with tests_ros. To speed up evaluation, enable time machine or time scaling in Isaac scheduler. The isaac_navigation_with_flatsim and ros_navigation_with_flatsim applications already enable time machine. The isaac_navigation_with_navsim application cannot use time machine, since Unity does not support time machine. However, Unity does support time scaling, and we can run the test at the higher timescale by setting time_scale=2 in isaac_navigation_with_navsim.app.json, and run NavSim with the corresponding time scale

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~/isaac_sim_unity3d/projects/navigation_evaluation/Builds: ./navigation_evaluation.x86_64 --timeScale 2 A valid timescale setting for NavSim is dependent on the number of cameras enable in the scene. The recommendation is to disable the main camera in all scenes used for evaluation.

4. Understanding the outputs

After running the batch_execution.py scripts, the following log files are written to the output folder (/tmp/navigation_evaluation by default unless you specify another one using -o or –output).

monitor log: Written by the ScenarioMonitor to record the execution state and ground truth poses for a test. It’s named [uuid]_monitor.log, where uuid is the uuid of the Isaac application in the test. This log consist of a list of jsons written per tick of the codelet (the tick period defaults to 10 Hz). Each json has the following fields:

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"execution_state": a value of type enum State defined in ScenarioMonitor to summarize the current state of the navigation state. 0 means normal execution, 1 means successfully reached goal, negative values are different failure modes. "localization_error": robot_gt_T_robot Pose2d type representing the localization error. "poses": a list of names of poses (Pose2d) relative to a reference frame. Names if poses and the reference frame are set in the PoseMonitor config. "robot_gt_T_goal": ground-truth robot distance to goal (Pose2d). "time_since_start": time (in second) since the ScenarioMonitor codelet began execution. "collision": a list of collision events (if any) of CollisionProto type.

Of these fields, the execution_state and time_since_start are always present. Other fields are optional (dependent on their availability at the tick time).

performance report: Generated by the engine scheduler at the end of each test when the Isaac application shuts down. It’s named [uuid]_perf.json, where uuid is the uuid of the Isaac application. Thus it should match the name of the monitor log for

the corresponding test run.

evaluation_result.json: Written by the batch_execution script after all tests are finished. It includes a list of all the tests run and the result of each test. For each test, the following fields are populated:

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"app": The name of the application json file "test": Test parameters as specified in tests_manual.json "result": A summary of the test exit status including: "uuid": The uuid of the application. Use this to find the corresponding monitor log, perf report, and minidump. "state": The state of the monitored node when test stops. See definition alice::Status in engine/alice/status.hpp "exitcode": The exit code of the process in which the test runs. A non-zero exit code signals a crash.

5. Analyzing the results

Run

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This generates a JSON report, /tmp/navigation_evaluation/evaluation_report.json, and prints the statistics to the console. For test cases that fail, it also prints out the uuid of the test.

To re-run a failed test, run the application JSON saved in the log directory as uuid_app.json, as in the following example:

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# Hardware and next steps.

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My main dev machine ran into some problems a few days back. Windows would flash and generally not be interactive, making it pretty useless. The login screen and alt-ctrl-del screen worked well, so I put the problem in with the video card/driver (since I'm using vista). A reinstall of the drivers didn't help, so next step was to replace the (~3 year old) card.

Got a random geforce 9800 w/512m. Can't really tell the difference except that this one takes an extra power connector, takes 2 slots and makes a different fan noise. The store also had 1tb drives on sale, so I got one to replace my ever full games drive. Merry Christmas!

And around the same time, my linux machine developed a little more serious problems. It's much older and been running in a drawer rather than a case for years now. I'm actually pretty happy it's lasted this long. I'll decide later if it's worth replacing or if it's easier to just put an ssh server on my windows box.

As for Tangent, work begins on the next bit of development. For the next release, I aim to have native generics working. Generic classes and methods at least. Ideally I'll also get constraints, generics in phrases, and some non-trivial type inference done. Probably in this next release will be more .NET type importing, and maybe type expressions.

Today's work allows generic classes to be defined, but they're not yet instantiatable and the members can't yet use the generic param.

The test target is to allow this definition of not to work:
public abstract bool not(bool rhs);public Type.False not(Type.True rhs){ return(false); }public Type.True not(Type.False rhs){ return(true); }public bool(T)   not( bool(T) rhsMethod ){    return(        (T rhs)=>bool{ return(not rhsMethod(rhs)); }    );}public   bool(A,B) mix Type.BinaryOperator   not( bool(A,B) mix Type.BinaryOperator    rhsOp ){    return(        (A lhs, B rhs)=>bool{ return( not rhsOp(lhs,rhs) ); }    );}

A bit ugly, but will allow not to act as a modifier on methods or operators that return bool. a not equals b for example would parse out nicely into the proper order of operations without having to manually implement the opposite of equals. not is the simple intuitive case.

Might need to work on some syntax to make it less fugly.

There are no comments to display.


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## Algebra 1: Common Core (15th Edition)

$5t^2\sqrt 2t$
Separate the radical to make it easier to simplify. $\sqrt 50\times\sqrt t^4\times\sqrt t$ $\sqrt 25\times\sqrt 2\times\sqrt t^4\times\sqrt t$ Simplify $5\times\sqrt 2\times t^2\times\sqrt t$ Answer: $5t^2\sqrt 2t$


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# Even Function , Odd Function , Periodic Function

If f : X → Y is a real valued function such that for all x ∈ D

⇒ − x ∈ D ( where D = domain of f ) and :

if f(− x) = f(x) for every x ∈ D then f is said to be an even function

and if f(− x) = − f(x) then f is said to be odd function.

The graph of an even function is symmetric about the y−axis (i.e. if (x , y) lies on the curve, then (− x , y) also lies on the curve) and that of an odd function is symmetric about the origin (i.e. if (x , y) lies on the curve , then (− x , − y) also lies on the curve).

### Notes:

⋄ Some times it is easy to prove that f(x) − f(−x) = 0 for even function and f(x) + f(−x) = 0 for odd functions .

⋄ A function can be even or odd or neither even nor odd.

⋄ Every function defined in symmetric interval D

( i.e. x∈ D ⇒ −x ∈ D) can be expressed as a sum of an even and an odd function.

$\large f(x) = (\frac{f(x) + f(-x)}{2}) + (\frac{f(x) – f(-x)}{2})$

Let     $\large h(x) = (\frac{f(x) + f(-x)}{2}) \; and \; g(x) = (\frac{f(x) – f(-x)}{2})$

It can now easily be shown that h(x) is even and g(x) is odd.

⋄ The first derivative of an even function is an odd function and vice versa. This is left as an exercise for you to prove.

⋄ If x = 0 ∈ domain of f, then for odd function f(x) which is continuous at x = 0 , f(0) = 0 i.e. if for a function, f(0) ≠ 0, then that function can not be odd.

It follows that for a differentiable even function f ‘(0) = 0 i.e if for a differentiable function f ‘(0) ≠ 0 then the function f cannot be even

Illustration : Which of the following functions is (are) even , odd or neither:

(i) f(x) = x2 sinx

(ii) $\large f(x) = \sqrt{1 + x + x^2} – \sqrt{1 – x + x^2}$

(iii) $\large f(x) = log(\frac{1-x}{1+x})$

(iv) $\large f(x) = log(x+ \sqrt{1 + x^2})$

(v) f(x) = sinx – cosx

(vi) $\large f(x) = \frac{e^x + e^{-x}}{2}$

Solution: (i) $\large f(-x) = (-x)^2 sin(-x)$

$\large f(-x) = – x^2 sinx$

= -f(x)

Hence , f(x) is odd .

(ii) $\large f(-x) = \sqrt{1 + (-x) + (-x)^2} – \sqrt{1 – (-x) + (-x)^2}$

$\large = \sqrt{1 – x + x^2} – \sqrt{1 + x + x^2}$

= – f(x)

Hence f(x) is odd.

(iii) $\large f(-x) = log(\frac{1-(-x)}{1 + (-x)})$

$\large = log(\frac{1+x}{1-x})$

= – f(x)

Hence f(x) is odd.

(iv) $\large f(-x) = log(-x + \sqrt{1 + (-x)^2})$

$\large f(-x) = log(\frac{(-x + \sqrt{1 + x^2}) (x + \sqrt{1 + x^2})}{(x + \sqrt{1 + x^2})})$

$\large = log(\frac{1}{x + \sqrt{1 + x^2}})$

= – f(x)

Hence f(x) is odd.

(v) f(-x) = sin(-x) – cos(-x) = -sinx – cos x

Hence f(x) is neither even nor odd.

$\large f(-x) = \frac{e^{-x} + e^{-(-x)}}{2}$

$\large = \frac{e^{-x} + e^x}{2}$

= f(x)

Hence f(x) is even

### Extension of Domain:

Let a function be defined on certain domain which is entirely non-negative (or non positive). The domain of f(x) can be extended to the

set X = {−x : x∈ domain of f(x)} in two ways:

(i) Even extension: The even extension is obtained by defining a new function f(−x) for x ∈ X , such that f(−x) = f(x).

(ii) Odd extension: The odd extension is obtained by defining a new function f(-x) for x∈X, such that f(−x) = − f(x)

Illustration : If $\displaystyle f(x) = \left\{\begin{array}{ll} x^3 + x^2 & \mathrm{for}\; 0 \le x \leq 2 \\ x+2 & \mathrm{for} \; 2 < x \le 4\end{array} \right.$

Then find the even and odd extension of f(x).

Solution: The even extension of f(x) is as follows:

$\displaystyle g(x) = \left\{\begin{array}{ll} -x + 2 & \mathrm{,}\; -4 \le x < -2 \\ -x^3 + x^2 & \mathrm{,} \; -2 < x \le 0 \end{array} \right.$

The odd extension of f(x) is as follows:

$\displaystyle h(x) = \left\{\begin{array}{ll} x – 2 & \mathrm{,}\; -4 \le x < -2 \\ x^3 – x^2 & \mathrm{,} \; -2 < x \le 0 \end{array} \right.$

### Periodic Function:

A function f: X →Y is said to be a periodic function if there exists a positive real number p such that :

f(x + p) = f(x) , for all x ∈ X .

The least of all such positive numbers p is called the principal period or simply period of f.

All periodic functions can be analyzed over an interval of one period within the domain as the same pattern shall be repetitive over the entire domain.

Example :

sinx , cosx, secx are periodic functions with period 2π

tanx, cotx are periodic with period π

Example :

f(x) = x − [x]

f(x) is periodic with period 1

(can you prove it mathematically?).

There are two types of questions asked in the examination. You may be asked to test for periodicity of the function or to find the period of the function.

In the former case you just need to show that f(x + T) = f(x) for same T ( > 0) independent of x whereas in the latter, you are required to find a least positive number T independent of x for which f(x + T)= f(x) is satisfied.

### The following points are to be remembered:

If f(x) is periodic with period p, then af(x) +b where a , b ∈ R (a ≠ 0) is also periodic with period p.

∎ If f(x) is periodic with period p , then f(ax + b) where a, b ∈ R ( a ≠0) is also period with period $\large \frac{p}{|a|}$ .

∎ Let f(x) has period p = m/n (m, n ∈ N and co-prime) and g(x) has period q = r/s (r, s ∈ N and co-prime) and let t be the LCM of p and q i.e. $\large t = \frac{LCM \; of (m , r)}{HCF \; of (r , s)}$

Then t shall be the period of f + g provided there does not exist a positive number k (< t) for which

f(k + x) + g(k + x) = f(x) + g(x) , else k will be the period.

The same rule is applicable for any other algebraic combination of f(x) and g(x)

### Remarks:

LCM of p and q always exist if p/q is a rational quantity. If p/q is irrational then algebraic combination of f and g is non-periodic.

∎ sinnx, cosnx, cosecnx and secnx have period 2π if n is odd and π if n is even.

∎ tannx and cotnx have period π whether n is odd or even.

∎ A constant function is periodic but does not have a well-defined period.

∎ If g is periodic then fog will always be a periodic function. Period of fog may or may not be the period of g.

∎ If f is periodic and g is strictly monotonic (other than linear) then fog is non-periodic.

Illustration : Find the periods (if periodic) of the following functions, where [.] denotes the greatest integer function.

(i) $\large f(x) = e^{ln(sinx)} + tan^3 x – cosec(3x-5)$

(ii) f(x)= x – [x – b], b ∈ R

(iii) $\large f(x) = \frac{|sinx + cosx|}{|sinx| + |cosx|}$

(iv) $\large f(x) = tan\frac{\pi}{2} [x]$

Solution: (i) $\large f(x) = e^{ln(sinx)} + tan^3 x – cosec(3x-5)$

Period of elnsinx = 2π , tan3x = π

cosec(3x-5) = 2π/3 ; period = 2π

(ii) f(x) = x –[x-b] = b+{x –b}

⇒  period = 1

(iii) $\large f(x) = \frac{|sinx + cosx|}{|sinx| + |cosx|}$

Since period of |sinx + cox| = π and   period of  |sinx| + | cosx|  is π/2.

Hence  f(x) is periodic  with π  as  its  period.

(iv) $\large f(x) = tan\frac{\pi}{2} [x]$

$\large tan\frac{\pi}{2} [x + T] = tan\frac{\pi}{2} [x]$

$\large \frac{\pi}{2} [x + T] = n \pi + \frac{\pi}{2} [x]$

Hence , Period = 2

← Back Page


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Student[NumericalAnalysis] - Maple Programming Help

Home : Support : Online Help : Education : Student Packages : Numerical Analysis : Computation : Student/NumericalAnalysis/ApproximateExactUpperBound

Student[NumericalAnalysis]

 ApproximateExactUpperBound
 compute approximate, exact and upper bound remainder term values

 Calling Sequence ApproximateExactUpperBound(p) ApproximateExactUpperBound(p, pts)

Parameters

 p - a POLYINTERP structure pts - (optional) algebraic, list(algebraic); the point(s) at which the approximating polynomial, the exact value(s) of the function, and the upper bound(s) of the remainder term are computed

Description

 • The ApproximateExactUpperBound command computes three values: the approximating polynomial, the exact value of the function and the upper bound of the remainder term, for each point specified in pts.
 • If pts is not specified, the extrapolated points in the given POLYINTERP structure are used instead.
 • The computed values are returned in the form of a list: [pts, approximate values, exact values, upper bounds].
 • The POLYINTERP structure is created using the PolynomialInterpolation command.

Notes

 • POLYINTERP structures whose interpolation method is the cubic spline method may not be used with this command.

Examples

 > $\mathrm{with}\left(\mathrm{Student}\left[\mathrm{NumericalAnalysis}\right]\right):$
 > $\mathrm{xy}≔\left[\left[0,4.0\right],\left[0.5,0\right],\left[1.0,-2.0\right],\left[1.5,0\right],\left[2.0,1.0\right],\left[2.5,0\right],\left[3.0,-0.5\right]\right]$
 ${\mathrm{xy}}{≔}\left[\left[{0}{,}{4.0}\right]{,}\left[{0.5}{,}{0}\right]{,}\left[{1.0}{,}{-2.0}\right]{,}\left[{1.5}{,}{0}\right]{,}\left[{2.0}{,}{1.0}\right]{,}\left[{2.5}{,}{0}\right]{,}\left[{3.0}{,}{-0.5}\right]\right]$ (1)
 > $\mathrm{p1}≔\mathrm{PolynomialInterpolation}\left(\mathrm{xy},\mathrm{function}={2}^{2-x}\mathrm{cos}\left(\mathrm{\pi }x\right),\mathrm{method}=\mathrm{lagrange},\mathrm{extrapolate}=\left[0.25,0.75,1.25\right],\mathrm{errorboundvar}=\mathrm{\xi }\right):$
 > $\mathrm{ApproximateExactUpperBound}\left(\mathrm{p1}\right)$
 $\left[\left[{0.25}{,}{2.685058594}{,}{2.378414230}{,}{1.793805002}\right]{,}\left[{0.75}{,}{-1.746582031}{,}{-1.681792830}{,}{0.4892195461}\right]{,}\left[{1.25}{,}{-1.166503906}{,}{-1.189207114}{,}{0.2717886368}\right]\right]$ (2)
 > $\mathrm{ApproximateExactUpperBound}\left(\mathrm{p1},\left[0.5,1.5\right]\right)$
 $\left[\left[{0.5}{,}{0.}{,}{-5.801199657}{}{{10}}^{{-10}}{,}{0.}\right]{,}\left[{1.5}{,}{0.}{,}{8.701799482}{}{{10}}^{{-10}}{,}{0.}\right]\right]$ (3)


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# How to compile an ArcGIS Desktop add-in in Visual Studio 2013

I have several projects made in Visual Studio 2010, those projects are ArcGIS Desktop Add-in's. I have been change of computer, and my new one only have Visual Studio 2013 due to some company politics I'm not allowed to install VS2010.

I tried to open this projects in VS2013, and they open with no problem, but when i try to compile it, it get me the following issue:

ESRI.ArcGIS.AddIns.SDK, Version=10.2.0.0, Culture=neutral, PublicKeyToken=8fc3cc631e44ad86. Could not load file or assembly 'Microsoft.VisualStudio.Shell.9.0, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a' or one of its dependencies. The system cannot find the file specified. Confirm that the declaration is correct, that the assembly and all its dependencies are available, and that the task contains a public class that implements Microsoft.Build.Framework.ITask.

my research so far has get me to install the VS SDK, but I'm not quite sure about which one(2008… 2013)

Any one has any possible solution for this?

First, I check that Microsoft.VisualStudio.Shell.9.0 was in the GAC, It was not there… :( then I proceed as Juho Vainio in Geonet suggest : Visual Studio Command Prompt --> Run as Administrator --> gacutil /i Microsoft.VisualStudio.Shell.9.0.dll, but it failed because I was not giving the full pat of the dll, so I search for it in the Visual Studio 2008 SDK, and Voila!!! it appear in the GAC

but the project still does not compile, so, I chec in the real GAC:

C:WindowsMicrosoft.NETassembly

and found that the file does not exist neither in the GAC_32, nor GAC_64 folder, moreover, it exists in the folder GAC_MSIL, so… i took the folder C:WindowsMicrosoft.NETassemblyGAC_MSILMicrosoft.VisualStudio.Shell.9.0 and copied it to the folders GAC_32 and GAC_64.

Now the project compiles.

Here's an additional answer since I just went through this process with ArcGIS 10.3 and Visual Studio 2015. I'll just paste the reply I posted at https://geonet.esri.com/message/579779#579779. There are several steps, but none of them are too difficult.

First, to get the SDK installed, you need to add a few registry keys so that ArcGIS thinks that you have a supported version of Visual Studio installed.

HKEY_LOCAL_MACHINESOFTWAREWOW6432NodeMicrosoftVisualStudio12.0InstallDir

(or whatever version the SDK installer is looking for) and set it to:

C:Program Files (x86)Microsoft Visual Studio 14.0Common7IDE

(or whatever version of Visual Studio you are trying to use).

HKEY_LOCAL_MACHINESOFTWAREWOW6432NodeMicrosoftVisualStudio12.0ShellFolder

(or whatever version the SDK installer is looking for) and set it to:

C:Program Files (x86)Microsoft Visual Studio 14.0

(or whatever version of Visual Studio you are trying to use).

Second, if you're working with an existing project created for/with an older version of ArcGIS and Visual Studio and creating an add-in, you may need to edit the project file that builds the add-in to correct part of its build task. More on this at http://support.esri.com/en/knowledgebase/techarticles/detail/45263.

1. Change

to

and change

to

.

Alternatively, you can copy and rename the existing ESRI.ArcGIS.AddIns.targets file to ESRI.ArcGIS.AddIns.11.targets. The MSBuildExtensionsPath is located in your Program Files (x86) directory.

Third, if you're building an add-in, you need to edit the .targets file from the previous step to look for the version of Visual Studio you are trying to use.

1. In

C:Program Files (x86)MSBuildEsriESRI.ArcGIS.AddIns.11.targets

change

to

Alternatively, you can simply remove the Condition="'\$(VisualStudioVersion)' == '12.0'" from these entries.

Fourth and finally, you need a copy of the Visual Studio 2013 shell registered in the GAC. I was able to copy this from another machine (it was located atC:WindowsMicrosoft.NETassemblyGAC_MSILMicrosoft.VisualStudio.Shell.12.0), but if you don't have access to a machine with VS2013 installed you can download the Visual Studio 2013 SDK from https://www.microsoft.com/en-us/download/details.aspx?id=40758 and copy it from there.

1. Find a copy of theMicrosoft.VisualStudio.Shell.12.0.dllfor Visual Studio 2013 and copy it to your machine. Register it in the GAC using an elevated command prompt by enteringgacutil /i Microsoft.VisualStudio.Shell.12.0.dllfrom the location you copied the file to on your machine. Note that you will now have two versions of this file in the GAC, one from Visual Studio 2013 and one from Visual Studio 2015. This can be seen by enteringgacutil /lfrom the command prompt to list all of the entries in the GAC. My entries look like:

Microsoft.VisualStudio.Shell.12.0, Version=12.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL Microsoft.VisualStudio.Shell.12.0, Version=14.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL

Hope that helps some others.

Shea

These are the steps I followed multiple times to get addins working in versions of visual studio other than 2010, using the 10.2.2 arcobjects sdk. My guess is this would probably work with 10.1 as well.

1. Install the version of visual studio you wish to use
2. Install visual studio 2010 and ArcMap 10.2.2 (requirements for arcobjects 10.2.2)
3. Install ArcObjects SDK (10.2.2 is the version I used)
5. Run Visual Studio command prompt as administrator

a.cd "C:Program Files (x86)Microsoft Visual Studio 2010 SDKVisualStudioIntegrationCommonAssembliesv2.0"

b.gacutil /i Microsoft.VisualStudio.Shell.9.0.dll

6. Build the addin (visual studio must be restarted if you had it open)

Visual Studio 2013 does not support ArcObjects SDK. I know it sucks. You can however force VS2013 to build an AddIn project if you have a copy of the files below:

1. Copy ESRI.ArcGIS.AddIns.targets to C:Program FilesMSBuildESRI

Can't remember where I got this info or how exactly I did it, but it works now for me.

I had a similar issue and I have solved it using devenv.exe instead of msbuild.exe as described in Building ArcMap's Add-in using command line

If Visual Studio 2013 and 2015 are both installed on the machine, this problem does not occur. Visual Studio 2013 includes the Microsoft Visual Studio Shell 12.0 library. To resolve this issue, download and install the Microsoft Visual Studio 2013 Shell (Isolated) redistributable Package.

You can see on support Esri http://support.esri.com/technical-article/000012659

## Setting up your development environment for Python and ArcGIS Desktop

2. Open up Aptana
3. Configure your workspace. This will be where all of your project files will be stored. I recommend throwing this in C : UsersYourUsernameSource. You can hit that checkbox so that it doesn't ask you ever again.
1. Once Aptana is open, you will need to specify your Python Interpreter. This process allows you to specify the version of Python that ships with the ArcGIS for Desktop or ArcGIS for Server installed on your machine. [Note: ArcGIS for Server ships with x64 bit python. You can add in both 32 and 64 bit interpreters if you have desktop and server on the same machine.]
2. First open up Aptana preferences
3. Open PyDev / Interpreter - Python
4. Click the button labeled New…
5. Give the interpreter a unique name. I am labeling it ArcGIS Python 2.7 x32, because this is for the default python location for ArcGIS for Desktop 10.1. If I were doing server, I would label it ArcGIS Python 2.7 x64.
6. Also, add in the path to the python executable:
- The default path for 10.1 desktop is C : Python27ArcGIS10 . 1python . exe
- The default path for 10.1 server is C : Python27ArcGISx6410 . 1python . exe
- The default path for 10.0 is C : Python26ArcGIS10 . 0python . exe
7. Click OK a few times.
8. The python interpreter is now ready for action.

1. First select the button labeled "Create Project" in the right hand window of Aptana.
2. Select PyDev / PyDev Project
3. Give your project a cool name, like "Example" and make sure to specify the Python interpreter you created in the previous section. Click Finish.
4. Create a python package by right clicking on your folder and selecting New / PyDev Package. This is the folder you will be creating all of your code in. Name it something clever like, example. A python module is a folder with a __init__ . py file inside. This allows your python files you create as a module rather than just one off scripts.
5. Now right click on the example folder and create a new python file by selecting New / PyDev Module. Give it a fun name like "Example" and select the "Module: Main" template. Finally click finish.
- More advanced users can play around with the other templates. For right now the main one should work perfectly for our needs.
6. The following code prints out the name for all of the toolboxes available in ArcMap. Type it in to see if your Python Environment is setup and ready to roll in Aptana.

import arcpy
if __name__ == '__main__':
toolboxes = arcpy . ListToolboxes ( ) # Query for a list of toolboxes
for toolbox in toolboxes: # Loop through the toolboxes
print toolbox # And Print the name out

## Add a Toolbar to the Project

Video Demonstration: Add a toolbar (duration 0:46)

Open the Solution Explorer if it is not visible (View | Solution Explorer). Right-click on the project name (“VBA_to_CS_Tutorial”) and select Add | New Item… from the context menu.

Locate and select the Desktop Add-Ins item in the Categories list. Under Templates, select Add-in component. Since we are adding a toolbar, you can ignore the value in the Name box, it will not be used. Click the OK button.

The ArcGIS Add-ins Wizard displays again, but this time displays only Add-in components.

Click the Add-in Command Bars item on the left. Select the Toolbar item.

Enter the following values:
Caption: Tutorial_Toolbar
Premier Toolbar: checked (so that toolbar is displayed by default)
Items: click Add Item underneath Reference ID and select the StaggerOffsetsButton.

Expand this to view contents of the Config.esriaddinx file that includes the button and toolbar (+/-)

<ESRI.Configuration xmlns="http://schemas.esri.com/Desktop/AddIns" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> <Name>VBA_to_CS_Tutorial</Name> <AddInID><34b94edb-b71a-4fde-bcdf-c344da8774d1></AddInID> <Description>VBA_to_CS_Tutorial</Description> <Version>1.0</Version> <Image>ImagesVBA_to_CS_Tutorial.png</Image> <Author>jeffh</Author> <Company>Qtools</Company> <Date>12/7/2010</Date> <Targets> <Target name="Desktop" version="10.0" /> </Targets> <AddIn language="CLR" library="VBA_to_CS_Tutorial.dll" namespace="VBA_to_CS_Tutorial"> <ArcMap> <Commands> <Button message="Stagger Offset: Offsets all feature in selected layer by a user-specified stagger amount on either side of the original position. Start an edit session before use." caption="Stagger Offset Features" tip="Stagger Offset Features: Offsets all features in selected layer." category="Add-In Controls" image="ImagesStaggerOffsetButton.png" /> </Commands> <Toolbars> <Toolbar caption="Tutorial_Toolbar" showInitially="true"> <Items> <Button refID="Qtools_VBA_to_CS_Tutorial_StaggerOffsetButton" /> </Items> </Toolbar> </Toolbars> </ArcMap> </AddIn> </ESRI.Configuration>

## Reference path is incorrect

If projects are shared on different computers, some references might not be found when a component is located in a different directory on each computer. References are stored under the name of the component file (for example, MyComponent). When a reference is added to a project, the folder location of the component file (for example, C:MyComponents) is appended to the ReferencePath project property.

When the project is opened, it attempts to locate these referenced component files by looking in the directories on the reference path. If the project is opened on a computer that stores the component in a different directory, such as D:MyComponents, the reference cannot be found and an error appears in the Task List.

To fix this problem, you can delete the broken reference and then replace it using the Add Reference dialog box. Another solution is to use the Reference Path item in the project's property pages and modify the folders in the list to point to the correct locations. The Reference Path property is persisted for each user on each computer. Therefore, modifying your reference path does not affect other users of the project.

Project-to-project references do not have these problems. For this reason, use them instead of file references, if you can.

### To fix a broken project reference by correcting the reference path

In Solution Explorer, right-click your project node and click Properties.

The Project Designer appears.

If you are using Visual Basic, select the References page and click the Reference Paths button. In the Reference Paths dialog box, type the path of the folder that contains the item you want to reference in the Folder field, and then click the Add Folder button.

If you are using C#, select the Reference Paths page. In the Folder field, type the path of the folder that contains the item you want to reference, and then click the Add Folder button.

## GeographicLib

I'm currently working on a C++ project in Visual Studio 2013. I've added Geographic.lib into this project - from my understanding it was built using Visual Studio 2010. When compiling the project I get several "LNK2001 unresolved external symbol" errors. Here is the Visual Studio error output:

Does anyone know how to solve this? I'm new to both Visual Studio C++ and GeographicLib so any help is greatly appreciated.

Comment has been marked as spam.
View and moderate all "Help" comments posted by this user

I seem to have figured it out. I had to compile GeographicLib in Visual Studio 2013 (I let it update automatically) and replace the existing 2010 .lib file with the generated 2013 .lib file.

First of all the library for version 1.46 is built with Visual Studio 12
2013 (not Visual Studio 10 2010 -- there's a problem with the
documentation here, sorry!). This is the same compiler version as the
one you are using so the library will be compatible.

project" means. Typically, this entails giving the version number, how
you installed the library, the settings in Visual Studio, etc. I can
sometimes guess the answers to these questions but you'll get an answer

Lastly, I'm guessing that you neglected to specify

which is necessary if you are going to use the static library. See the
documentation at

I see from your second message that you got things workings. However

It's not that you compiled GeographicLib with VS 2013 (since the binary
package used the same version). Instead, it's because (again I'm
guessing!) that you only built the static library (the binary package
comes with both static and shared libraries). In that case, there's no
need to specify GEOGRAPHICLIB_SHARED_LIB=0.

## Lehigh Software

The Install Software page serves as the central repository for all LTS software at Lehigh University. Read about some of the new features on the Help & About Page.

3DPrinterOS is an easy-to-use cloud based interface that works across the majority of 3D Printers.

A general purpose finite element analysis program.

DOCUMENTATION: https://www.3ds.com/support/documentation/users-guides/ (requires creating a free 3Dexperience ID)

Adobe professional editing software including Photoshop, Flash, and Dreamweaver.

ANSYS Academic Multiphysics Campus Solution (25 tasks of Research and 250 tasks of Teaching). The ANSYS Academic products incorporate features such as advanced meshing, multiphysics solvers, rigid body dynamics, CFD, and fully associative CAD connectivity into one product license.

Final Cut Pro is a non-linear video editing software.

ArcCatalog provides file management for all parts of ESRI's mapping solution suite, ArcGIS Desktop.

Geographic Information Systems (GIS) software which performs advanced spatial analyses, models operational processes, and visualizes results on professional quality maps.

Cloud-enabled all-in-one client for the ArgGIS data formats and mapping tools.

Interactive map creation and editing tool from the ArcGIS desktop suite.

3D rendering client for ArcGIS desktop data.

Software and drivers for the Arduino Uno microcontroller board. Includes an open-source physical computing platform and development environment for writing software for the board.

Models and analyzes business, service, or manufacturing processes or flows.

Specialized version of AutoCAD for Architects

Specialized version of AutoCAD for 3D Civil Engineering.

2D technical drawing system

A 2D and 3D design and drafting CAD software suite.

Avast Free for Education provides antivirus protection for Lehigh-owned computers. Faculty, staff and students who want Avast antivirus for their personally-owned machines can download a copy here: https://www.avast.com/en-us/index

Banner is the ERP (Enterprise Resource Planning) package that Lehigh uses for HR, Financial, Alumni and Student Information.

A full featured Integrated Development Environment (IDE) for the C/C++ programming language.

Printed Circuit Board design software

Schematic design solutions for the creation and documentation of electrical circuits.

A data analysis and auditing tool for accounting and financial professionals.

This full-featured chemical drawing package is now sold by Perkin-Elmer, and Lehigh's license covers the 'ChemDraw Professional' suite. It enables you to do chemical structure drawing, export reaction graphics, and search SciFinder with chemical structures.

Connect to the Lehigh SSL VPN from off campus.

An enterprise voice, messaging and video platform for desktop and mobile devices.

COMSOL is a powerful interactive environment for modeling and solving scientific and engineering problems based on partial differential equations (PDEs). COMSOL allows you to create equation-based models through a flexible self-contained graphical user interface or from the MATLAB command line.

Confluence is a wiki documentation application used at Lehigh for creating and providing documentation for projects and departments.

Course Site is Lehigh's instance of Moodle, a Learning Management System (LMS).

CrashPlan ProE, the Enterprise version of Code42's CrashPlan Backup system is LTS's recommended desktop backup solution.

This software is meant for Lehigh-owned computers only. It is normally installed by LTS support staff. If you require CrowdStrike on your Lehigh-owned computer, please contact the LTS Help Desk at 610-758-HELP.

Send personalized email messages to multiple recipients via Gmail.

DNA Master is a freeware DNA sequence editor and analysis package. I only ask that users register the program and send interested parties here to pick up a version. This program is quite powerful in what it can do, and as such does not limit itself in taking up resources. A fast computer with 512 MB of memory (or more) is recommended greater amounts of memory are required for some functions. The installation of DNA Master requires setting up the Borland database driver subsystem. These files are also used in the Strain Manager, Oligo manager, Chemical Manager, and Invoice Manager programs.

Java Development Environment

Dropbox is a cloud based file sharing / storage service similar to google drive.

Ensemble Video is a cloud based video storage repository where Lehigh Faculty can upload and share videos.

An image processing application that supports visualization, analysis, and presentation of all types of digital imagery.

PDF documentation for ESI packages

Secure file transfer (SFTP) application for Mac OS X

LU FileSender is a service to make it easy for you to move files, including large files up to 2.0 GB, in and out of the University.

FlexSim Healthcare is a 3D simulation tool for modeling the complexities and nuances of healthcare management work-flow, including patient flow, staff utilization, and resource management. It is available in Mohler 121.

Electronic structures program.

GAUSS VIEW is an advanced graphical user interface designed to be used with Gaussian to make calculations easier, quicker and more efficient.

Sync work or school files to your computer with Drive File Stream.

This application supports materials education across engineering, design, science, and sustainable development. (NOTE: prior to the 2020 release this product was named CES EduPack)

This software will display campus alerts on a windows desktop.

(IBM SPSS Amos) Mathematical modeling software.

A scientific graphing, data analysis, image processing and programming software tool for scientists and engineers.

The IntelÂ® Composer XE product Family delivers industry leading C++ and Fortran compilers combined with the performance-oriented IntelÂ® Math Kernel Library, IntelÂ® Integrated Performance Primitives, and IntelÂ® Threading Building Blocks.

A Fortran development environment which supports advanced optimization and parallel processing.

IntelÂ® VTuneâ„¢ Amplifier XE is our newest performance profiling tool and builds on the success of IntelÂ® VTuneâ„¢ Performance Analyzer. It includes all the capabilities of IntelÂ® Parallel Amplifier plus a number of advanced capabilities for developers who need even greater performance optimization.

Jamf Pro, developed by Jamf, is a comprehensive management system for Apple macOS computers and iOS devices.

NetBeans is a modular, standards-based integrated development environment (IDE) written in the Java programming language.

Electronic circuit design system.

The Kumo Client facilitates users' access to their cloud-based or on-premise data.

Graphical programming environment for data acquisition, control, analysis, and presentation.

This is a utility to map your windows home space.

Scalar is a free, open source authoring and publishing platform thatâ€™s designed to make it easy for authors to write long-form, born-digital scholarship online. Scalar enables users to assemble media from multiple sources and juxtapose them with their own writing in a variety of ways, with minimal technical expertise required.

Magma is a programming language designed for investigating algebraic and combinational structures. Advanced symbolic algebraic computations are feasible due to the way the information is stored.

Mahara is an open source eportfolio system that integrated into Course Site

Anti-Malware (like antivirus, but different) software designed to protect Lehigh-owned Windows PC's from threats.

Mathematical analysis software

Software primarily intended for the verification, validation, documentation and re-use of engineering calculations.

Mathematical analysis software.

Mathematical analysis software. Matlab Toolboxes

Azure Dev Tools for Teaching is a service that provides access to a variety of Microsoft software for learning, teaching and research purposes. This software includes developer and designer tools, servers and applications, as well as training and certifications. Imagine access is available to all current students and faculty.

Microsoft Office (including Office 365) is a productivity suite including Word, Excel and PowerPoint. (Note: the Windows version also includes Access, Publisher and OneNote).

Provides project management tools to manage projects.

Diagramming program that uses vector graphics

Microsoft Visual Studio is a programming environment.

Windows is a graphical Operating System for Personal Computers.

Statistical and graphical analysis software.

Enhanced terminal for Windows with X11 server, tabbed SSH client, network tools and much more

Cloud based store front for microsoft (and some other vendors) products licensed at a discount.

Overleaf is a cloud-based tool for producing scientific papers, theses, dissertations, presentations and other documents in LaTeX.

Panopto - Lehigh University's Panopto service is a cloud-based service that provides various video services including screen capture, streaming and lecture capture. Panopto is compatible with both PC and Mac and allows recording of voice and screen capture of a desktop, PowerPoint or Keynote.

The PI System is an open data infrastructure that enables global enterprises to gather streaming real-time sensor data from over 450 different data sources, efficiently store, contextualize, process, share, visualize and analyze data.

Research Suite is an enterprise online survey software solution that empowers you to collect, analyze and act on relevant data. It offers capabilities to conduct Customer Satisfaction Surveys, Marketing Research, Ad Testing and Product Feedback

This software allow users to check USPS mailing addresses for validity and allows users to paste corrected addresses into applications.

R is a language and environment for statistical computing and graphics.

An inter-departmental room scheduling program.

Integrated design of slabs, mats and footings

An integrated structural design and analysis package.

Data analysis software suite. From TS1M2 forward, Base SAS and Enterprise Miner are included in the same installation package.

Python programming environment

SQL development environment by Oracle.

Statistical and graphical analysis software.

Geological analysis software written by Prof. Rick Allmendinger of the Earth and Atmospheric Sciences Dept. at Cornell University.

Facilitates modeling, evaluation and optimization of integrated processes.

Helps elementary students understand geometric principles as they experiment with tessellations.

Thermo-Calc is thermodynamics and diffusion software. DICTRA is software for accurate simulations of diffusion in multicomponent alloy systems.

Supports the creation of drafts, models, and presentations for architecture, landscape, and entertainment design. Free student licenses are available here

VCD is used to install Lehigh University software directly from an ISO file. Works and behaves just like a physical CD/DVD drive, however it exists only virtually.

Lehigh wordpress allows users to create individual personal wordpress sites and blogs.

Zoom is a cloud-based video conferencing and recording tool. Zoom combines video conferencing, online meetings, and mobile collaboration into one platform.

### Free/Open Source Alternatives

• Abaqus
• Aptana
• Arduino
• Autodesk Suite
• Autodesk Suite
• MobaXterm
• Bloodshed C++
• Aptana
• Fetch
• ArcGIS Desktop Suite
• ArcGIS Desktop Suite
• ArcGIS Desktop Suite
• Fetch
• SSH Secure Shell
• MATLAB
• Microsoft Office
• Microsoft Office
• ArcGIS Desktop Suite
• ImageJ
• Microsoft Visio
• Java JDK with NetBeans IDE
• Microsoft Office
• Microsoft System Center
• Microsoft Visual Studio
• MobaXterm
• SSH Secure Shell
• Mozilla Thunderbird
• Java JDK with NetBeans IDE
• MATLAB
• Abaqus
• ANSYS
• Microsoft Office
• Abaqus
• ArcGIS Desktop Suite
• Microsoft Project
• IBM SPSS/PASW Statistics
• SSH Secure Shell
• ArcGIS Desktop Suite
• IBM SPSS/PASW Statistics
• Minitab
• SAS
• STATA
• SAS
• MobaXterm
• SWI-Prolog
• Microsoft Windows
• Visual Analysis

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EWFM Library & Computing Center &bull 8A East Packer Avenue &bull Bethlehem, PA 18015-3102

## Windows Forms Designer on HDPI monitors

The Windows Forms Designer in Visual Studio doesn't have scaling support. This causes display issues when you open some forms in the Windows Forms Designer on high dots per inch (HDPI) monitors. For examples, controls can appear to overlap as shown in the following image:

When you open a form in the Windows Forms Designer in Visual Studio on an HDPI monitor, Visual Studio displays a yellow informational bar at the top of the designer:

The message reads Scaling on your main display is set to 200% (192 dpi). This might cause rendering problems in the designer window.

This informational bar was introduced in Visual Studio 2017 version 15.8.

If you aren't working in the designer and don't need to adjust the layout of your form, you can ignore the informational bar and continue working in the code editor or in other types of designers. (You can also disable notifications so that the informational bar doesn't continue to appear.) Only the Windows Forms Designer is affected. If you do need to work in the Windows Forms Designer, the next section helps you resolve the problem.

## How to compile an ArcGIS Desktop add-in in Visual Studio 2013 - Geographic Information Systems

####About CASPER (Capacity-Aware Shortest Path Evacuation Routing) is a custom Network Analyst tool that uses a state-of-the-art routing algorithm to produce evacuation routes to the nearest safe area for each evacuee or group of evacuees. It is an innovative new ArcGIS tool that can help city officials, public safety and other emergency departments to perform evacuation planning more intelligently and efficiently.

• Visual C++ Redistributable Packages for Visual Studio 2013 (Install both x86 and x64 versions)
• ArcGIS Desktop 10.3
• Network Analyst Extension
• (Optional) Background Geoprocessing (64-bit)
• (Optional) ArcGIS Desktop C++ SDK: only if you want to compile the program yourself

####Using the Code The project can be compiled with VS2013 or later. You need to install ArcGIS Desktop C++ SDK and Boost libraries. download the latest version, extract it on your PC, then add its path to VS C++ project include directories (more info). You also need a post-commit and a post-checkout git hook to generate an extra header file. Use the following sample:

####Installation In order to install, first unzip the downloaded file. Next, execute the "install.cmd" script. This script needs to run as an administrator in Windows Visa and later operating systems. Make sure any previous CASPER installation is completely uninstalled. You may find detailed instructions in the user manual.

####Acknowledgement I would like to thank Esri Application Prototype Lab (APL), the Esri Network Analyst team, and USC Spatial Sciences Institute (SSI) for their support during the development of this tool. The programing of this tool started when I was a summer intern at Esri in 2011. I worked at APL during that summer and also received tremendous support from the Network Analyst team. After Esri, I continued as a PhD student and research assistant at USC SSI. Thanks to SSI support, I'm still actively developing the CASPER algorithm to improve the future of public safety.

####Copyright / Permission CASPER is released as a free open-source tool under Apache 2.0 license. For a complete copy take a look at license.txt . If you decided to use our tool in your work, we would ask that you cite it as:

K. Shahabi and J. P. Wilson, “CASPER: Intelligent capacity-aware evacuation routing,” Computers, Environment and Urban Systems, vol. 46, pp. 12–24, Apr. 2014

NO WARRANTIES. The SOFTWARE PRODUCT and any related documentation is provided “as is” without warranty of any kind, either express or implied, including, without limitation, the implied warranties or merchantability, fitness for a particular purpose, or non-infringement. The entire risk arising out of use or performance of the SOFTWARE PRODUCT remains with you.

####Fibonacci Heap For the heap data structure, the Fibonacci Heap implementation by Tim Blechmann from the Boost libraries has been utilized. The original source code is available under the Boost License.

####OpenSteer Library This tool utilizes OpenSteer library to run evacuation simulations. The library is released under MIT license.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

## How To: Create a new graticule using VBA and ArcObjects

You need to pick the option that best suits your application. There is one last thing to do before the code is ready to use.

This is really the only major error in converting the code. Choose Add-In Controls adcobjects Categories the category that was defined when creating the add-in.

This code could be improved. This article as a PDF. Not much has changed in the conversion between VBA and the add-in. With a county selected, click the Read Data button on the dialog box.

### Learning ArcObjects with VBA and .NET? – Geographic Information Systems Stack Exchange

This is easily fixed by adding import statements at the top of the code. This opens the County Info dialog box. At the very top of the code for the form, above the public class, add three import statements Figure 4. This example requires two references. In the OnClick event, add the following two lines:. In conclusion, even though VBA is gone, with a little refactoring and a good bit of copying and pasting, existing VBA code can be reused in the new.

The Esri online help is very useful. In this example, open the included file called Form1. Search the online help for the article “Walkthrough: Second wizard screen for creating command button.

Copy the subroutine and paste it into the newly created form in the add-in project. Scroll down and pick the word Text.