An efficient Earth Mover's Distance algorithm for robust histogram comparison

We propose EMD-L1: a fast and exact algorithm for computing the Earth Mover's Distance (EMD) between a pair of histograms. The efficiency of the new algorithm enables its application to problems that were previously prohibitive due to high time complexities. The proposed EMD-L1 significantly simplifies the original linear programming formulation of EMD. Exploiting the L1 metric structure, the number of unknown variables in EMD-L1 is reduced to O(N) from O(N2) of the original EMD for a histogram with N bins. In addition, the number of constraints is reduced by half and the objective function of the linear program is simplified. Formally, without any approximation, we prove that the EMD-L1 formulation is equivalent to the original EMD with a L1 ground distance. To perform the EMD-L1 computation, we propose an efficient tree-based algorithm, Tree-EMD. Tree-EMD exploits the fact that a basic feasible solution of the simplex algorithm-based solver forms a spanning tree when we interpret EMD-L1 as a network flow optimization problem. We empirically show that this new algorithm has an average time complexity of O(N2), which significantly improves the best reported supercubic complexity of the original EMD. The accuracy of the proposed methods is evaluated by experiments for two computation-intensive problems: shape recognition and interest point matching using multidimensional histogram-based local features. For shape recognition, EMD-L1 is applied to compare shape contexts on the widely tested MPEG7 shape data set, as well as an articulated shape data set. For interest point matching, SIFT, shape context and spin image are tested on both synthetic and real image pairs with large geometrical deformation, illumination change, and heavy intensity noise. The results demonstrate that our EMD-L1-based solutions outperform previously reported state-of-the-art features and distance measures in solving the two tasks.     

Correction of color information of a 3D model using a range intensity image

Most active optical range sensors record, simultaneously with the range image, the amount of light reflected at each measured surface location: this information forms what is called a range intensity image, also known as a reflectance image. This paper proposes a method that uses this type of image for the correction of the color information of a textured 3D model. This color information is usually obtained from color images acquired using a digital camera. The lighting condition for the color images are usually not controlled, thus this color information may not be accurate. On the other hand, the illumination condition for the range intensity image is known since it is obtained from a controlled lighting and observation configuration, as required for the purpose of active optical range measurement. The paper describes a method for combining the two sources of information, towards the goal of compensating for a reference range intensity image is first obtained by considering factors such as sensor properties, or distance and relative surface orientation of the measured surface. The color image of the corresponding surface portion is then corrected using this reference range intensity image. A B-spline interpolation technique is applied to reduce the noise of range intensity images. Finally, a method for the estimation of the illumination color is applied to compensate for the light source color. Experiments show the effectiveness of the correction method using range intensity images.     

LMNtal as a hierarchical logic programming language

LMNtal (pronounced “elemental”) is a simple language model based on hierarchical graph rewriting that uses logical variables to represent connectivity and membranes to represent hierarchy. LMNtal is an outcome of the attempt to unify constraint-based concurrency and Constraint Handling Rules (CHR), the two notable extensions to concurrent logic programming. LMNtal is intended to be a substrate language of various computational models, especially those addressing concurrency, mobility and multiset rewriting. Although the principal objective of LMNtal was to provide a unifying computational model, it is of interest to equip the formalism with a precise logical interpretation. In this paper, we show that it is possible to give LMNtal a simple logical interpretation based on intuitionistic linear logic and a flattening technique. This enables us to call LMNtal a hierarchical, concurrent linear logic language.     

Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes*

The firefighting robot system (FFRS) comprises several autonomous robots that can be deployed to fire disasters in petrochemical complexes. For autonomous navigation, the path planner should consider the robot constraints and characteristics. Specifically, three requirements should be satisfied for a path to be suitable for the FFRS. First, the path must satisfy the maximum curvature constraint. Second, it must be smooth for robots to easily execute the trajectory. Third, it must allow reaching the target location in a specific heading. We propose a path planner that provides smooth paths, satisfy the maximum curvature constraint, and allows a suitable robot heading. The path smoother is based on the conjugate gradient descent, and three approaches are proposed for this path planner to meet all the FFRS requirements. The effectiveness of these approaches is qualitatively and quantitatively evaluated by examining the generated paths. Finally, the path planner is applied to an actual robot to verify the suitability of the generated paths for the FFRS, and planning is applied to another type of robot to demonstrate the wide applicability of the proposed planner.     

A third-generation SPARC V9 64-b microprocessor

This quad-issue processor achieves 1-GHz operation through improved dynamic circuit techniques in critical paths and a more extensive on-chip memory system which scales in both bandwidth and latency. Critical logic paths use domino, delayed clocked domino, and logic embedded in dynamic flip-flops for minimum delay. A 64-KB sum-addressed memory data cache combines the address offset add with the cache decode, allowing the average memory latency to scale by more than the clock ratio. Memory bandwidth is improved by using wave pipelined SRAM designs for on-chip caches and a write cache for store traffic. Memory power is controlled without increased latency by use of delayed-reset logic decoders. The chip operates at 1000 MHz and dissipates less than 80 W from a 1.6-V supply. It contains 23 million transistors (12 million in RAM cells) on a 244 mm² die     

Ligand-Installed Nanocarriers toward Precision Therapy

Development of drug-delivery systems that selectively target neoplastic cells has been a major goal of nanomedicine. One major strategy for achieving this milestone is to install ligands on the surface of nanocarriers to enhance delivery to target tissues, as well as to enhance internalization of nanocarriers by target cells, which improves accuracy, efficacy, and ultimately enhances patient outcomes. Herein, recent advances regarding the development of ligand-installed nanocarriers are introduced and the effect of their design on biological performance is discussed. Besides academic achievements, progress on ligand-installed nanocarriers in clinical trials is presented, along with the challenges faced by these formulations. Lastly, the future perspectives of ligand-installed nanocarriers are discussed, with particular emphasis on their potential for emerging precision therapies.     

Control of the coating layer thickness of TiO2–SiO2 core–shell hybrid particles by liquid phase deposition

This paper describes control of the coating layer thickness and the crystallite size of the core–shell hybrid particles by controlling the process parameter. The core–shell hybrid particles were prepared using liquid phase deposition (LPD). We confirmed that the homogeneous coating was attained from the result of the zeta potential and the transmission electron microscope (TEM) observation. Furthermore, the coating layer microstructure was estimated using Brunauer–Emmett–Teller (BET) method. The obtained coating layer of titania was estimated using the band gap energy. Results indicate that the blue shift of the band gap energy signifies that the physical property of the hybrid particles was controlled by the coating layer thickness and the crystallite size, which are determined by the processing parameters.     

Encapsulation of radioactive metals inside multilayered polyhedral shells of carbon as a barrier to radionuclide release

A carbon nanoencapsulate has a polyhedral outer shell of nested, concentric layers of carbon. The shell defines an internal cavity where a metal is encapsulated. Although the rare-earth carbides readily hydrolyze in moist air, the carbides in these carbon shells did not degrade after exposure to air for considerable lengths of time. This means that the carbide particle is physically enclosed within the carbon cavity completely, and the cavity protects it perfectly against attack of water molecules. Considering intrinsic chemical stability of carbon under oxygen free condition, this structure may be a perfect barrier to extremely long-term release of radionuclides. Because encapsulation of LaC₂ within carbon nanoparticles increased drastically from by-product to major product, it would be possible to find the optimized condition that complete encapsulation is achieved. Intrinsic stability of carbon and carbon coated waste nanoparticles may provide an improved barrier to radionuclide release by groundwater.