Sequencing of multi-robot behaviors using reinforcement learning

Given a collection of parameterized multi-robot controllers associated with individual behaviors designed for particular tasks,this paper considers the problem ...     

Simultaneous segmentation of prostatic zones using Active Appearance Models with multiple coupled levelsets

In this work we present an improvement to the popular Active Appearance Model (AAM) algorithm, that we call the Multiple-Levelset AAM (MLA). The MLA can simultaneously segment multiple objects, and makes use of multiple levelsets, rather than anatomical landmarks, to define the shapes. AAMs traditionally define the shape of each object using a set of anatomical landmarks. However, landmarks can be difficult to identify, and AAMs traditionally only allow for segmentation of a single object of interest. The MLA, which is a landmark independent AAM, allows for levelsets of multiple objects to be determined and allows for them to be coupled with image intensities. This gives the MLA the flexibility to simulataneously segmentation multiple objects of interest in a new image.In this work we apply the MLA to segment the prostate capsule, the prostate peripheral zone (PZ), and the prostate central gland (CG), from a set of 40 endorectal, T2-weighted MRI images. The MLA system we employ in this work leverages a hierarchical segmentation framework, so constructed as to exploit domain specific attributes, by utilizing a given prostate segmentation to help drive the segmentations of the CG and PZ, which are embedded within the prostate. Our coupled MLA scheme yielded mean Dice accuracy values of .81, .79 and .68 for the prostate, CG, and PZ, respectively using a leave-one-out cross validation scheme over 40 patient studies. When only considering the midgland of the prostate, the mean DSC values were .89, .84, and .76 for the prostate, CG, and PZ respectively.     

Reserves Accumulated in Non-Photosynthetic Organs during the Previous Growing Season Drive Plant Defenses and Growth in Aspen in the Subsequent Growing Season

Plants store non-structural carbohydrates (NSC), nitrogen (N), as well as other macro and micronutrients, in their stems and roots; the role of these stored reserves in plant growth and defense under herbivory pressure is poorly understood, particularly in trees. Trembling aspen (Populus tremuloides) seedlings with different NSC and N reserves accumulated during the previous growing season were generated in the greenhouse. Based on NSC and N contents, seedlings were assigned to one of three reserve statuses: Low N–Low NSC, High N–Medium NSC, or High N–High NSC. In the subsequent growing season, half of the seedlings in each reserve status was subjected to defoliation by forest tent caterpillar (Malacosoma disstria) while the other half was left untreated. Following defoliation, the effect of reserves was measured on foliar chemistry (N, NSC) and caterpillar performance (larval development). Due to their importance in herbivore feeding, we also quantified concentrations of phenolic glycoside compounds in foliage. Seedlings in Low N-Low NSC reserve status contained higher amounts of induced phenolic glycosides, grew little, and supported fewer caterpillars. In contrast, aspen seedlings in High N-Medium or High NSC reserve statuses contained lower amounts of induced phenolic glycosides, grew faster, and some of the caterpillars which fed on these seedlings developed up to their fourth instar. Furthermore, multiple regression analysis indicated that foliar phenolic glycoside concentration was related to reserve chemistry (NSC, N). Overall, these results demonstrate that reserves accumulated during the previous growing season can influence tree defense and growth in the subsequent growing season. Additionally, our study concluded that the NSC/N ratio of reserves in the previous growing season represents a better measure of resources available for use in defense and growth than the foliar NSC/N ratios.     

Confidence intervals in repeated-measures designs: The number of observations principle.

Since the publication of Loftus and Masson’s (1994) method for computing confidence intervals (CIs) in repeated-measures (RM) designs, there has been uncertainty about how to apply it to particular effects in complex factorial designs. Masson and Loftus (2003) proposed that RM CIs for factorial designs be based on number of observations rather than number of participants. However, determining the correct number of observations for a particular effect can be complicated, given the variety of effects occurring in factorial designs. In this paper the authors define a general “number of observations” principle, explain why it obtains, and provide step-by-step instructions for constructing CIs for various effect types. The authors illustrate these procedures with numerical examples. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A constrained binary knapsack approximation for shortest path network interdiction

A modified shortest path network interdiction model is approximated in this work by a constrained binary knapsack which uses aggregated arc maximum flow as the objective function coefficient. In the modified shortest path network interdiction problem, an attacker selects a path of highest non-detection probability on a network with multiple origins and multiple available targets. A defender allocates a limited number of resources within the geographic region of the network to reduce the maximum network non-detection probability between all origin-target pairs by reducing arc non-detection probabilities and where path non-detection probability is modeled as a product of all arc non-detection probabilities on that path. Traditional decomposition methods to solve the shortest path network interdiction problem are sensitive to problem size and network/regional complexity. The goal of this paper is to develop a method for approximating the regional allocation of defense resources that maintains accuracy while reducing both computational effort and the sensitivity of computation time to network/regional properties. Statistical and spatial analysis methods are utilized to verify approximation performance of the knapsack method in two real-world networks.     

English speakers attend more strongly than Spanish speakers to manner of motion when classifying novel objects and events.

Three experiments provide evidence that the conceptualization of moving objects and events is influenced by one's native language, consistent with linguistic relativity theory. Monolingual English speakers and bilingual Spanish/English speakers tested in an English-speaking context performed better than monolingual Spanish speakers and bilingual Spanish/English speakers tested in a Spanish-speaking context at sorting novel, animated objects and events into categories on the basis of manner of motion, an attribute that is prominently marked in English but not in Spanish. In contrast, English and Spanish speakers performed similarly at classifying on the basis of path, an attribute that is prominently marked in both languages. Similar results were obtained regardless of whether categories were labeled by novel words or numbered, suggesting that an English-speaking tendency to focus on manner of motion is a general phenomenon and not limited to word learning. Effects of age of acquisition of English were also observed on the performance of bilinguals, with early bilinguals performing similarly in the 2 language contexts and later bilinguals showing greater contextual variation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Resilience and survivability in communication networks: Strategies,principles, and survey of disciplines

The Internet has become essential to all aspects of modern life, and thus the consequences of network disruption have become increasingly severe. It is widely recognised that the Internet is not sufficiently resilient, survivable, and dependable, and that significant research, development, and engineering is necessary to improve the situation. This paper provides an architectural framework for resilience and survivability in communication networks and provides a survey of the disciplines that resilience encompasses, along with significant past failures of the network infrastructure. A resilience strategy is presented to defend against, detect, and remediate challenges, a set of principles for designing resilient networks is presented, and techniques are described to analyse network resilience.     

Effects of pigmentation on siloxane–polyurethane coatings and their performance as fouling-release marine coatings

Siloxane–polyurethane paints were formulated and characterized for coating properties and performance as fouling-release (FR) marine coatings. Paints were formulated at 20 and 30 pigment volume concentrations with titanium dioxide, and aminopropyl-terminated poly(dimethylsiloxane) (APT-PDMS) loadings were varied from 0 to 30% based on binder mass. The coatings were characterized for water contact angle, surface energy (SE), gloss, and pseudobarnacle (PB) adhesion. The assessment of the FR performance compared with polyurethane (PU) and silicone standards through the use of laboratory biological assays was also performed. Biofilm retention and adhesion were conducted with the marine bacterium Cellulophaga lytica, and the microalgae diatom Navicula incerta. Live adult barnacle reattachment using Amphibalanus amphitrite was also performed. The pigmented coatings were found to have properties and FR performance similar to those prepared without pigment. However, a higher loading of PDMS was required, in some cases, to obtain the same properties as coatings prepared without pigment. These coatings rely on a self-stratification mechanism to bring the PDMS to the coating surface. The slight reduction in water contact angle (WCA) and increase in pseudobarnacle release force with pigmentation suggests that pigmentation slowed or interfered with the self-stratification mechanism. However, increasing the PDMS loading is an apparent method for overcoming this issue, allowing for coatings having similar properties as those of clear coatings and FR performance similar to those of silicone standard coatings.