By Andrew Phillips

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11) Indeed, the optimal projection axes , , … . are orthonormal eigenvectors of corresponding to the best first “d” eigenvalues permitting to create a new projection matrix X, which is a matrix of size n d : ,x ,…. We will use the 2DLDA optimal projection vectors , ,…. to extract the image features; we use the equation (08). 3 Discrete Wavelet Transform Discrete wavelet transform (DWT) is a well-known signal processing field tool; it is widely used in feature extraction and compression and de-noising applications.

In order to coordinate, each truck is equipped with a software agent able to discuss and synchronize with the other agents in the system. Both agents A and B refer to the following coordinated plan: P EB EA | meet |EB ; with EA moveA l2 ; meet; moveA l4 ; exit and moveB l ; get_loadB ; moveB l ; meet; exit. Moreover, duration of actions are given by the respective learnt experiences of A and B about transportations. For the simplicity of the example, all durations of actions are assumed equal to 1 time unit.

Definition 3 ( ). Let x (resp. y) be a clock that belongs to the agent p (resp. q) and evolves according to the rate function τ (resp. τ ). We define slope as the ratio of local-time rate functions τ and τ , noted slope . (see Fig. 4). Given a pair of clocks, x and y (within respectively agent p and q), their owner speeds will make them diverging from time reference at a certain speed. That is equal to the ratio between their owner rates. It represents the slope of the straight line in Fig. 4. As there are only finitely many clock constraints on clock x, we can determine the largest integer c with which x is compared in some clock constraint (guard) of the daTA-RT A.

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