A document is known by the company it keeps: neighborhood consensus for short text categorization

During the last decades the Web has become the greatest repository of digital information. In order to organize all this information, several text categorization methods have been developed, achieving accurate results in most cases and in very different domains. Due to the recent usage of Internet as communication media, short texts such as news, tweets, blogs, and product reviews are more common every day. In this context, there are two main challenges; on the one hand, the length of these documents is short, and therefore, the word frequencies are not informative enough, making text categorization even more difficult than usual. On the other hand, topics are changing constantly at a fast rate, causing the lack of adequate amounts of training data. In order to deal with these two problems we consider a text classification method that is supported on the idea that similar documents may belong to the same category. Mainly, we propose a neighborhood consensus classification method that classifies documents by considering their own information as well as information about the category assigned to other similar documents from the same target collection. In particular, the short texts we used in our evaluation are news titles with an average of 8 words. Experimental results are encouraging; they indicate that leveraging information from similar documents helped to improve classification accuracy and that the proposed method is especially useful when labeled training resources are limited.     

LEGClust- a clustering algorithm based on layered entropic subgraphs.

Hierarchical clustering is a stepwise clustering method usually based on proximity measures between objects or sets of objects from a given data set. The most common proximity measures are distance measures. The derived proximity matrices can be used to build graphs, which provide the basic structure for some clustering methods. We present here a new proximity matrix based on an entropic measure and also a clustering algorithm (LEGClust) that builds layers of subgraphs based on this matrix, and uses them and a hierarchical agglomerative clustering technique to form the clusters. Our approach capitalizes on both a graph structure and a hierarchical construction. Moreover, by using entropy as a proximity measure we are able, with no assumption about the cluster shapes, to capture the local structure of the data, forcing the clustering method to reflect this structure. We present several experiments on artificial and real data sets that provide evidence on the superior performance of this new algorithm when compared with competing ones.     

Modeling and solving the rooted distance-constrained minimum spanning tree problem

In this paper we discuss models and methods for solving the rooted distance constrained minimum spanning tree problem which is defined as follows: given a graph G=(V,E)$G=(V,E)$ with node set V={0,1,…,n}$V=\{0,1,\dots ,n\}$ and edge set E$E$, two integer weights, a cost _ce$c_e$ and a delay _we$w_e$ associated with each edge e$e$ of E$E$, and a natural (time limit) number H$H$, we wish to find a spanning tree T$T$ of the graph with minimum total cost and such that the unique path from a specified root node, node 0, to any other node has total delay not greater than H$H$. This problem generalizes the well known hop-constrained spanning tree problem and arises in the design of centralized networks with quality of service constraints and also in package shipment with service guarantee constraints. We present three theoretically equivalent modeling approaches, a column generation scheme, a Lagrangian relaxation combined with subgradient optimization procedure, both based on a path formulation of the problem, and a shortest path (compact) reformulation of the problem which views the underlying subproblem as defined in a layered extended graph. We present results for complete graph instances with up to 40 nodes. Our results indicate that the layered graph path reformulation model is still quite good when the arc weights are reasonably small. Lagrangian relaxation combined with subgradient optimization procedure appears to work much better than column generation and seems to be a quite reasonable approach to the problem for large weight, and even small weight, instances.     

Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.     

A Multiobjective Evolutionary Approach to Concurrently Learn Rule and Data Bases of Linguistic Fuzzy-Rule-Based Systems

In this paper, we propose the use of a multiobjective evolutionary approach to generate a set of linguistic fuzzy-rule-based systems with different tradeoffs between accuracy and interpretability in regression problems. Accuracy and interpretability are measured in terms of approximation error and rule base (RB) complexity, respectively. The proposed approach is based on concurrently learning RBs and parameters of the membership functions of the associated linguistic labels. To manage the size of the search space, we have integrated the linguistic two-tuple representation model, which allows the symbolic translation of a label by only considering one parameter, with an efficient modification of the well known (2 + 2) Pareto archived evolution strategy (PAES). We tested our approach on nine real world datasets of different sizes and with different numbers of variables. Besides the (2 + 2)PAES, we have also used the well known nondominated sorting genetic algorithm (NSGA-II) and an accuracy-driven single-objective evolutionary algorithm (EA). We employed these optimization techniques both to concurrently learn rules and parameters and to learn only rules. We compared the different approaches by applying a nonparametric statistical test for pairwise comparisons, thus taking into consideration three representative points from the obtained Pareto fronts in the case of the multiobjective EAs. Finally, a data complexity measure, which is typically used in pattern recognition to evaluate the data density in terms of average number of patterns per variable, has been introduced to characterize regression problems. Results confirm the effectiveness of our approach, particularly for (possibly high dimensional) datasets with high values of the complexity metric.     

Self-managed topologies in P2P networks

The problem of efficient resource location is an important open issue in P2P systems. This paper introduces DANTE, a self-adapting P2P system that changes its peer links to form topologies where resources are located in an efficient manner via random walks. Additionally, this same self-adaptation capacity makes DANTE capable of reacting to events like changes in the system load or attacks on well-connected nodes by adjusting the topology to the new scenario. This adaptive behavior emerges as the global result of the individual work of nodes, without the intervention of any central entity or the need for global knowledge. Simulations show that this adaptation process makes the system scalable, resilient to attacks, and tolerant to a high transitivity of peers. Simulations are also used to compare this solution with other well-known self-adapting P2P system. From these results it can be concluded that the topologies achieved by DANTE offer better performance.     

Adaptation and application of multi-objective evolutionary algorithms for rule reduction and parameter tuning of fuzzy rule-based systems

Recently, multi-objective evolutionary algorithms have been applied to improve the difficult tradeoff between interpretability and accuracy of fuzzy rule-based systems. It is known that both requirements are usually contradictory, however, these kinds of algorithms can obtain a set of solutions with different trade-offs. This contribution analyzes different application alternatives in order to attain the desired accuracy/interpr-etability balance by maintaining the improved accuracy that a tuning of membership functions could give but trying to obtain more compact models. In this way, we propose the use of multi-objective evolutionary algorithms as a tool to get almost one improved solution with respect to a classic single objective approach (a solution that could dominate the one obtained by such algorithm in terms of the system error and number of rules). To do that, this work presents and analyzes the application of six different multi-objective evolutionary algorithms to obtain simpler and still accurate linguistic fuzzy models by performing rule selection and a tuning of the membership functions. The results on two different scenarios show that the use of expert knowledge in the algorithm design process significantly improves the search ability of these algorithms and that they are able to improve both objectives together, obtaining more accurate and at the same time simpler models with respect to the single objective based approach.

---

A new control scheme for visual servoing

This research presents a new control scheme for visual servoing that takes into account the delay introduced by image acquisition and image processing. Firstly, previous control schemes for visual servoing are discussed and then a new control scheme is proposed and fully described. Afterwards, the capabilities (steady-state errors, stability margins, step time response, etc.) of the proposed control scheme and of previous ones are analytically analyzed and compared. Next, several simulations and experimental results are provided to validate the analytical results and to illustrate the benefits of the proposed control scheme. In particular, it is shown that this new control scheme clearly improves the performance of the previous ones.     

3D Semantic Scene Completion: A Survey

International Journal of Computer Vision - Semantic scene completion (SSC) aims to jointly estimate the complete geometry and semantics of a scene, assuming partial sparse input. In the last years...