Combining Support Vector Machines and simulated annealing for stereovision matching with fish eye lenses in forest environments

We present a novel strategy for computing disparity maps from omni-directional stereo images obtained with fish-eye lenses in forest environments. At a first segmentation stage, the method identifies textures of interest to be either matched or discarded. Two of them are identified by applying the powerful Support Vector Machines approach. At a second stage, a stereovision matching process is designed based on the application of four stereovision matching constraints: epipolarity, similarity, uniqueness and smoothness. The epipolarity guides the process. The similarity and uniqueness are mapped once again through the Support Vector Machines, but under a different way to the previous case; after this an initial disparity map is obtained. This map is later filtered by applying the Discrete Simulated Annealing framework where the smoothness constraint is conveniently mapped. The combination of the segmentation and stereovision matching approaches makes the main contribution. The method is compared against the usage of simple features and combined similarity matching strategies.     

Maintaining strong mutual visibility of an evader moving over the reduced visibility graph

In this paper, we address the problem of determining whether a mobile robot, called the pursuer, is able to maintain strong mutual visibility (a visibility notion between regions over a convex partition of the environment) of an antagonist agent, called the evader. We frame the problem as a non cooperative game. We consider the case in which the pursuer and the evader move at bounded speed, traveling in a known polygonal environment with or without holes, and in which there are no restrictions as to the distance that might separate the agents. Unlike our previous efforts (Murrieta-Cid et al. in Int J Robot Res 26:233–253, 2007), we give special attention to the combinatorial problem that arises when searching for a solution through visiting several locations in an environment with obstacles. In this paper we take a step further, namely, we assume an antagonistic evader who moves continuously and unpredictably, but with a constraint over its set of admissible motion policies, as the evader moves in the shortest-path roadmap, also called the reduced visibility graph (RVG). The pursuer does not know which among the possible paths over the RVG the evader will choose, but the pursuer is free to move within all the environment. We provide a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader. This method is based on an algorithm that computes the safe areas (areas that keep evader surveillance) at all times. We prove decidability of this problem, and provide a complexity measure to this evader surveillance game; both contributions hold for any general polygonal environment that might or not contain holes. All our algorithms have been implemented and we show simulation results.     

A direct calculation of moments of the sample variance

A systematic method to deal with the interrelations of systems with multi-index quantities (random variables) is proposed. The method differs of the well-known Polykays. An application of the theoretical results here presented is the calculation of the moments of the sample variance for general populations in a direct way. The main advantage of the proposed methodology is that no conversion formulae and other complicated Polykays rules are needed. However, the proposed method is compatible with Polykays philosophy and conversion formulae and multiplication rules can be derived by using the theoretical results of this work. For practical purposes, two algorithms for the calculation of the moments of the sample variance are proposed.     

Stronger Lempel-Ziv Based Compressed Text Indexing

Given a text T[1..u] over an alphabet of size σ, the full-text search problem consists in finding the occ occurrences of a given pattern P[1..m] in T. In indexed text searching we build an index on T to improve the search time, yet increasing the space requirement. The current trend in indexed text searching is that of compressed full-text self-indices, which replace the text with a more space-efficient representation of it, at the same time providing indexed access to the text. Thus, we can provide efficient access within compressed space. The Lempel-Ziv index (LZ-index) of Navarro is a compressed full-text self-index able to represent T using 4uH _k (T)+o(ulog?σ) bits of space, where H _k (T) denotes the k-th order empirical entropy of T, for any k=o(log? _σ u). This space is about four times the compressed text size. The index can locate all the occ occurrences of a pattern P in T in O(m ³log?σ+(m+occ)log?u) worst-case time. Although this index has proven very competitive in practice, the O(m ³log?σ) term can be excessive for long patterns. Also, the factor 4 in its space complexity makes it larger than other state-of-the-art alternatives. In this paper we present stronger Lempel-Ziv based indices (LZ-indices), improving the overall performance of the original LZ-index. We achieve indices requiring (2+ε)uH _k (T)+o(ulog?σ) bits of space, for any constant ε>0, which makes them the smallest existing LZ-indices. We simultaneously improve the search time to O(m ²+(m+occ)log?u), which makes our indices very competitive with state-of-the-art alternatives. Our indices support displaying any text substring of length ? in optimal O(?/log? _σ u) time. In addition, we show how the space can be squeezed to (1+ε)uH _k (T)+o(ulog?σ) to obtain a structure with O(m ²) average search time for m≥2log? _σ u. Alternatively, the search time of LZ-indices can be improved to O((m+occ)log?u) with (3+ε)uH _k (T)+o(ulog?σ) bits of space, which is much less than the space needed by other Lempel-Ziv-based indices achieving the same search time. Overall our indices stand out as a very attractive alternative for space-efficient indexed text searching.     

Probabilistic proximity search: Fighting the curse of dimensionality in metric spaces

Proximity searches become very difficult on “high dimensional” metric spaces, that is, those whose histogram of distances has a large mean and/or a small variance. This so-called “curse of dimensionality”, well known in vector spaces, is also observed in metric spaces. The search complexity grows sharply with the dimension and with the search radius. We present a general probabilistic framework applicable to any search algorithm and whose net effect is to reduce the search radius. The higher the dimension, the more effective the technique. We illustrate empirically its practical performance on a particular class of algorithms, where large improvements in the search time are obtained at the cost of a very small error probability.     

Applying EuroWordNet to Cross-Language Text Retrieval

We discuss ways in which EuroWordNet (EWN) can be used in multilingual information retrieval activities, focusing on two approaches to Cross-Language Text Retrieval that use the EWN database as a large-scale multilingual semantic resource. The first approach indexes documents and queries in terms of the EuroWordNet Inter-Lingual-Index, thus turning term weighting and query/document matching into language-independent tasks. The second describes how the information in the EWN database could be integrated with a corpus-based technique, thus allowing retrieval of domain-specific terms that may not be present in our multilingual database. Our objective is to show the potential of EuroWordNet as a promising alternative to existing approaches to Cross-Language Text Retrieval.     

Structural studies of pulsed-laser deposited nanocomposite metal-oxide films

Pulsed laser deposition in vacuum has been used to develop metal-oxide nanocomposite films with well controlled structural quality. Results for the copper–aluminium oxide (Cu:Al₂O₃) system are used to illustrate the main morphological and structural features of these films. High resolution transmission electron microscopy (TEM) analysis shows that the films consist of Cu nanocrystals with average dimensions that can be controlled between 2 nm and 10 nm embedded in an amorphous Al₂O₃ matrix. It is observed that the in-plane shape of the nanocrystals evolves from circular to elongated, and the number of nanocrystals per unit area decreases as their size increases. This evolution is explained in terms of nucleation at the substrate surface and coalescence during the later stages of growth. The thermal stability of the films has been studied by in situ TEM annealing and no transformation could be observed up to about 800 °C when partial crystallization of the Al₂O₃ starts.     

A differential inclusion approach for modeling and analysis of dynamical systems under uncertainty

In this paper we deal with the application of differential inclusions to modeling nonlinear dynamical systems under uncertainty in parameters. In this case, differential inclusions seem to be better suited to modeling practical situations under uncertainty and imprecision than formulations by means of fuzzy differential equations. We develop a practical algorithm to approximate the reachable sets of a class of nonlinear differential inclusion, which eludes the computational problems of a previous set-valued version of the Heun’s method. Our algorithm is based on a complete discretization (time and state space) of the differential inclusion and it suits hardware features, handling the memory used by the method in a controlled fashion during all iterations. As a case of study, we formulate a differential inclusion to model an epidemic outbreak of dengue fever under Cuban conditions. The model takes into account interaction of human and mosquito populations as well as vertical transmission in the mosquito population. It is studied from the theoretical point of view to apply the Practical Algorithm. Also, we estimate the temporal evolution of the different human and mosquito populations given by the model in the Dengue 3 epidemic in Havana 2001, through the computation of the reachable sets using the Practical Algorithm.     

Direct characterisation of phenolic antioxidants in infusions from four Mapuche medicinal plants by liquid chromatography with diode array detection (HPLC-DAD) and electrospray ionisation tandem mass spectrometry (HPLC-ESI-MS)

A simple, fast and direct method was developed for the qualitative analysis of phenolic constituents from infusions of Mapuche medicinal plants. Teas made of Linum chamissonis Schiede, Quinchamalium chilensis Mol., Adesmia emarginata Clos. and Escallonia illinita K. Presl. were analysed by high-performance liquid chromatography with diode array detector (HPLC-DAD) and electrospray mass spectrometry (ESI-MS). This technique allowed for the first time the tentative identification of 16 phenolic compounds in E. illinita, 27 in Q. chilensis, 10 in L. chamissonis and 19 in A. emarginata. The compounds were mainly phenolic acids, flavonoid glycosides, anthocyanins and tannins. The total phenolic and flavonoid content of the infusions was assessed as well as the free radical scavenging capacity measured by the bleaching of a solution of the 2,2-diphenyl-1-picrylhydrazyl (DPPH⁻) radical. From the four species, Q. chilensis exhibited the strongest antioxidant activity with highest total phenolic and flavonoid content.