DEEP—differential evolution entirely parallel method for gene regulatory networks

The Differential Evolution Entirely Parallel (DEEP) method is applied to the biological data fitting problem. We introduce a new migration scheme, in which the best member of the branch substitutes the oldest member of the next branch that provides a high speed of the algorithm convergence. We analyze the performance and efficiency of the developed algorithm on a test problem of finding the regulatory interactions within the network of gap genes that control the development of early Drosophila embryo. The parameters of a set of nonlinear differential equations are determined by minimizing the total error between the model behavior and experimental observations. The age of the individuum is defined by the number of iterations this individuum survived without changes. We used a ring topology for the network of computational nodes. The computer codes are available upon request.     

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.     

State complexity of power

The number of states in a deterministic finite automaton (DFA) recognizing the language $L^k$, where $L$ is regular language recognized by an $n$-state DFA, and $k?2$ is a constant, is shown to be at most $n{2}^{(k?1)n}$ and at least $(n?k)2^{(k?1)(n?k)}$ in the worst case, for every $n>k$ and for every alphabet of at least six letters. Thus, the state complexity of $L^k$ is $\Theta \left(n{2}^{(k?1)n}\right)$. In the case $k=3$ the corresponding state complexity function for $L^3$ is determined as $\frac{6n?3}{8}{4}^n?(n?1)2^n?n$ with the lower bound witnessed by automata over a four-letter alphabet. The nondeterministic state complexity of $L^k$ is demonstrated to be $nk$. This bound is shown to be tight over a two-letter alphabet.     

A note: Common due date assignment for a single machine scheduling with the rate-modifying activity

In this paper we study the single machine common due date assignment and scheduling problem with the possibility to perform a rate-modifying activity (RMA) for changing the processing times of the jobs following this activity. The objective is to minimize the total weighted sum of earliness, tardiness and due date costs. Placing the RMA to some position in the schedule can decrease the objective function value. Several properties of the problem are considered which in some cases can reduce the complexity of the solution algorithm.     

Indoor robot gardening: design and implementation

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.     

Impact of orthorectification and spatial sampling on maximum NDVI composite data in mountain regions

Topography and accuracy of image geometric registration significantly affect the quality of satellite data, since pixels are displaced depending on surface elevation and viewing geometry. This effect should be corrected for through the process of accurate image navigation and orthorectification in order to meet the geolocation accuracy for systematic observations specified by the Global Climate Observing System (GCOS) requirements for satellite climate data records. We investigated the impact of orthorectification on the accuracy of maximum Normalized Difference Vegetation Index (NDVI) composite data for a mountain region in north-western Canada at various spatial resolutions (1 km, 4 km, 5 km, and 8 km). Data from AVHRR on board NOAA-11 (1989 and 1990) and NOAA-16 (2001, 2002, and 2003) processed using a system called CAPS (Canadian AVHRR Processing System) for the month of August were considered. Results demonstrate the significant impact of orthorectification on the quality of composite NDVI data in mountainous terrain. Differences between orthorectified and non-orthorectified NDVI composites (ΔNDVI) adopted both large positive and negative values, with the 1% and 99% percentiles of ΔNDVI at 1 km resolution spanning values between − 0.16 < ΔNDVI < 0.09. Differences were generally reduced to smaller numbers for coarser resolution data, but systematic positive biases for non-orthorectified composites were obtained at all spatial resolutions, ranging from 0.02 (1 km) to 0.004 (8 km). Analyzing the power spectra of maximum NDVI composites at 1 km resolution, large differences between orthorectified and non-orthorectified AVHRR data were identified at spatial scales between 4 km and 10 km. Validation of NOAA-16 AVHRR NDVI with MODIS NDVI composites revealed higher correlation coefficients (by up to 0.1) for orthorectified composites relative to the non-orthorectified case. Uncertainties due to the AVHRR Global Area Coverage (GAC) sampling scheme introduce an average positive bias of 0.02 ± 0.03 at maximum NDVI composite level that translates into an average relative bias of 10.6% ± 19.1 for sparsely vegetated mountain regions. This can at least partially explain the systematic average positive biases we observed relative to our results in AVHRR GAC-based composites from the Global Inventory Modeling and Mapping Studies (GIMMS) and Polar Pathfinder (PPF) datasets (0.19 and 0.05, respectively). With regard to the generation of AVHRR long-term climate data records, results suggest that orthorectification should be an integral part of AVHRR pre-processing, since neglecting the terrain displacement effect may lead to important biases and additional noise in time series at various spatial scales.     

Benchmarking classifiers to optimally integrate terrain analysis and multispectral remote sensing in automatic rock glacier detection

The performance improvements that can be achieved by classifier selection and by integrating terrain attributes into land cover classification are investigated in the context of rock glacier detection. While exposed glacier ice can easily be mapped from multispectral remote-sensing data, the detection of rock glaciers and debris-covered glaciers is a challenge for multispectral remote sensing. Motivated by the successful use of digital terrain analysis in rock glacier distribution models, the predictive performance of a combination of terrain attributes derived from SRTM (Shuttle Radar Topography Mission) digital elevation models and Landsat ETM+ data for detecting rock glaciers in the San Juan Mountains, Colorado, USA, is assessed. Eleven statistical and machine-learning techniques are compared in a benchmarking exercise, including logistic regression, generalized additive models (GAM), linear discriminant techniques, the support vector machine, and bootstrap-aggregated tree-based classifiers such as random forests. Penalized linear discriminant analysis (PLDA) yields mapping results that are significantly better than all other classifiers, achieving a median false-positive rate (mFPR, estimated by cross-validation) of 8.2% at a sensitivity of 70%, i.e. when 70% of all true rock glacier points are detected. The GAM and standard linear discriminant analysis were second best (mFPR: 8.8%), followed by polyclass. For comparison, the predictive performance of the best three techniques is also evaluated using (1) only terrain attributes as predictors (mFPR: 13.1-14.5% for best three techniques), and (2), only Landsat ETM+ data (mFPR: 19.4-22.7%), yielding significantly higher mFPR estimates at a 70% sensitivity. The mFPR of the worst three classifiers was by about one-quarter higher compared to the best three classifiers, and the combination of terrain attributes and multispectral data reduced the mFPR by more than one-half compared to remote sensing only. These results highlight the importance of combining remote-sensing and terrain data for mapping rock glaciers and other debris-covered ice and choosing the optimal classifier based on unbiased error estimators. The proposed benchmarking methodology is more generally suitable for comparing the utility of remote-sensing algorithms and sensors.     

Effects of spectral response function on surface reflectance and NDVI measured with moderate resolution satellite sensors: Extension to AVHRR NOAA-17, 18 and METOP-A

This work extends the previous study of Trishchenko et al. [Trishchenko, A. P., Cihlar, J., & Li, Z. (2002). Effects of spectral response function on surface reflectance and NDVI measured with moderate resolution satellite sensors. Remote Sensing of Environment 81 (1), 1-18] that analyzed the spectral response function (SRF) effect for the Advanced Very High Resolution Radiometer (AVHRR) onboard the NOAA satellites NOAA-6 to NOAA-16 as well as the Moderate Resolution Imaging Spectroradiometer (MODIS), the VEGETATION sensor (VGT) and the Global Imager (GLI). The developed approach is now applied to cover three new AVHRR sensors launched in recent years on NOAA-17, 18, and METOP-A platforms. As in the previous study, the results are provided relative to the reference sensor AVHRR NOAA-9. The differences in reflectance among these three radiometers relative to the AVHRR NOAA-9 are similar to each other and range from − 0.015 to 0.015 (− 20% to + 2% relative) for visible (red) channel, and from − 0.03 to 0.02 (− 5% to 5%) for the near infrared (NIR) channel. The absolute change in the Normalized Difference Vegetation Index (NDVI) ranged from − 0.03 to + 0.06. Due to systematic biases of the visible channels toward smaller values and the NIR channels toward slightly larger values, the overall systematic biases for NDVI are positive. The polynomial approximations are provided for the bulk spectral correction with respect to the AVHRR NOAA-9 for consistency with previous study. Analysis was also conducted for the SRF effect only among the AVHRR-3 type of radiometer on NOAA-15, 16, 17, 18 and METOP-A using AVHRR NOAA-18 as a reference. The results show more consistency between sensors with typical correction being under 5% (or 0.01 in absolute values). The AVHRR METOP-A reveals the most different behavior among the AVHRR-3 group with generally positive bias for visible channel (up to + 5%, relative), slightly negative bias for the NIR channel (1%-2% relative), and negative NDVI bias (− 0.02 to + 0.005). Polynomial corrections are also suggested for normalization of AVHRR on NOAA-15, 16, 17 and METOP-A to AVHRR NOAA-18.     

Textures on Rank‐1 Lattices

Storing textures on orthogonal tensor product lattices is predominant in computer graphics, although it is known that their sampling efficiency is not optimal. In two dimensions, the hexagonal lattice provides the maximum sampling efficiency. However, handling these lattices is difficult, because they are not able to tile an arbitrary rectangular region and have an irrational basis. By storing textures on rank‐1 lattices, we resolve both problems: Rank‐1 lattices can closely approximate hexagonal lattices, while all coordinates of the lattice points remain integer. At identical memory footprint texture quality is improved as compared to traditional orthogonal tensor product lattices due to the higher sampling efficiency. We introduce the basic theory of rank‐1 lattice textures and present an algorithmic framework which easily can be integrated into existing off‐line and real‐time rendering systems.     

The RavenClaw dialog management framework: Architecture and systems

In this paper, we describe RavenClaw, a plan-based, task-independent dialog management framework. RavenClaw isolates the domain-specific aspects of the dialog control logic from domain-independent conversational skills, and in the process facilitates rapid development of mixed-initiative systems operating in complex, task-oriented domains. System developers can focus exclusively on describing the dialog task control logic, while a large number of domain-independent conversational skills such as error handling, timing and turn-taking are transparently supported and enforced by the RavenClaw dialog engine. To date, RavenClaw has been used to construct and deploy a large number of systems, spanning different domains and interaction styles, such as information access, guidance through procedures, command-and-control, medical diagnosis, etc. The framework has easily adapted to all of these domains, indicating a high degree of versatility and scalability.