On the Complexity of Pareto-Optimal Nash and Strong Equilibria

We consider the computational complexity of coalitional solution concepts in scenarios related to load balancing such as anonymous and congestion games. In congestion games, Pareto-optimal Nash and strong equilibria, which are resilient to coalitional deviations, have recently been shown to yield significantly smaller inefficiency. Unfortunately, we show that several problems regarding existence, recognition, and computation of these concepts are hard, even in seemingly special classes of games. In anonymous games with constant number of strategies, we can efficiently recognize a state as Pareto-optimal Nash or strong equilibrium, but deciding existence for a game remains hard. In the case of player-specific singleton congestion games, we show that recognition and computation of both concepts can be done efficiently. In addition, in these games there are always short sequences of coalitional improvement moves to Pareto-optimal Nash and strong equilibria that can be computed efficiently.     

Discussion of the enabling environments for decentralised water systems

Decentralised water supply systems are becoming increasingly affordable and commonplace in Australia and have the potential to alleviate urban water shortages and reduce pollution into natural receiving marine and freshwater streams. Learning processes are necessary to support the efficient implementation of decentralised systems. These processes reveal the complex socio-technical and institutional factors to be considered when developing an enabling environment supporting decentralised water and wastewater servicing solutions. Critical to the technological transition towards established decentralised systems is the ability to create strategic and adaptive capacity to promote learning and dialogue. Learning processes require institutional mechanisms to ensure the lessons are incorporated into the formulation of policy and regulation, through constructive involvement of key government institutions. Engagement of stakeholders is essential to the enabling environment. Collaborative learning environments using systems analysis with communities (social learning) and adaptive management techniques are useful in refining and applying scientists' and managers' knowledge (knowledge management).     

Processing and interactive editing of huge point clouds from 3D scanners

This paper describes a new out-of-core multi-resolution data structure for real-time visualization, interactive editing and externally efficient processing of large point clouds. We describe an editing system that makes use of the novel data structure to provide interactive editing and preprocessing tools for large scanner data sets. Using the new data structure, we provide a complete tool chain for 3D scanner data processing, from data preprocessing and filtering to manual touch-up and real-time visualization. In particular, we describe an out-of-core outlier removal and bilateral geometry filtering algorithm, a toolset for interactive selection, painting, transformation, and filtering of huge out-of-core point-cloud data sets and a real-time rendering algorithm, which all use the same data structure as storage backend. The interactive tools work in real-time for small model modifications. For large scale editing operations, we employ a two-resolution approach where editing is planned in real-time and executed in an externally efficient offline computation afterwards. We evaluate our implementation on example data sets of sizes up to 63 GB, demonstrating that the proposed technique can be used effectively in real-world applications.     

Delineating Boundaries for Imprecise Regions

In geographic information retrieval, queries often name geographic regions that do not have a well-defined boundary, such as “Southern France.” We provide two algorithmic approaches to the problem of computing reasonable boundaries of such regions based on data points that have evidence indicating that they lie either inside or outside the region. Our problem formulation leads to a number of subproblems related to red-blue point separation and minimum-perimeter polygons, many of which we solve algorithmically. We give experimental results from our implementation and a comparison of the two approaches. This research is supported by the EU-IST Project No. IST-2001-35047 (SPIRIT) and by grant WO 758/4-2 of the German Research Foundation (DFG).     

Analysis of Two-Dimensional Non-Rigid Shapes

Analysis of deformable two-dimensional shapes is an important problem, encountered in numerous pattern recognition, computer vision and computer graphics applications. In this paper, we address three major problems in the analysis of non-rigid shapes: similarity, partial similarity, and correspondence. We present an axiomatic construction of similarity criteria for deformation-invariant shape comparison, based on intrinsic geometric properties of the shapes, and show that such criteria are related to the Gromov-Hausdorff distance. Next, we extend the problem of similarity computation to shapes which have similar parts but are dissimilar when considered as a whole, and present a construction of set-valued distances, based on the notion of Pareto optimality. Finally, we show that the correspondence between non-rigid shapes can be obtained as a byproduct of the non-rigid similarity problem. As a numerical framework, we use the generalized multidimensional scaling (GMDS) method, which is the numerical core of the three problems addressed in this paper.     

Motion Planning for Haptic Guidance

Haptic devices allow a user to feel either reaction forces from virtual interactions or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task or to assist him/her to safely teleoperate a robot. The generation of guiding forces relies on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of -space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of -space. A harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called the Kautham planner) that, given an initial and a goal configuration, provides: (a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; (b) two harmonic functions over the whole -space, one that guides motions towards the channel and another that guides motions within the channel towards the goal; and (c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces. This work was partially supported by the CICYT projects DPI2005-00112 and DPI2007-63665.     

On the forced vibration of the fiber partially immersed in fluid

In this paper an experimental and theoretical investigation of the forced vibration of a partially immersed fiber has been carried out. An optical method utilizing a forward light scattering pattern has been used to detect a small (<1.0 μm) vibration amplitude of the fiber. The physical and mathematical model of the partially immersed fiber vibration has been put forward. Based on an analytical solution of the model, natural frequencies of the partially immersed fiber vibration have been found; they are consecutive positive roots of the transcendental equation. An “effective” speed of the wave propagation over the fiber has been introduced, which allows one to find the physical meaning of normal modes of the partially immersed fiber vibration. Theoretical predictions agree well with experimental data. The sensor exhibits an excellent sensitivity and could be used for measuring physical properties of fluids and liquid level.     

SEMPA – Ein Ansatz des Semantischen Prozessmanagements zur Planung von Prozessmodellen

Currently process modeling is mostly done manually. Therefore, the initial design of process models as well as changes to process models which are frequently necessary to react to new market developments or new regulations are time-consuming tasks. In this paper we introduce SEMPA, an approach for the partly automatic planning of process models. Using ontologies to semantically describe actions – as envisioned in Semantic Business Process Management –, a process model for a specified problem setting can be created automatically. In comparison to existing planning algorithms our approach creates process models including control structures and is able to cope with complex and numerical input and output parameters of actions. The prototypical implementation as well as an example taken from the financial services domain illustrate the practical benefit of our approach.     

生物Reichardt运动检测器和感受域模板的 FPGA设计与实现

为了在图像处理中快速地实现运动检测和相机自身运动方式估算,引入了基于生物视觉机制的Reichardt运动检测器模型(EMD)和感受域模板.分析了Reichardt运动检测器模型的基本特性及其缺陷.为了克服模型上的主要缺陷,在应用中选择了一种优化模型,应用该模型可以得到较好的运动检测结果.同时,提出了基于苍蝇视觉系统的6个感受域模板,用以实现简单自身运动方式的估算,如相机自身的平移、旋转等.最后,在FPGA(FieldProgrammable Gate Array)平台上实现了相关的算法.实验结果表明,优化后的运动检测器可以快速地判断局部运动方向,感受域模板可实现在特定背景下的简单运动方式估算;对分辨率为256×256像素的输入图片,本设计中的FPGA系统可达到每秒350帧的处理速率,所产生的延时仅为0.25μs,达到了快速处理的要求.此模型可应用于实时的机器视觉系统,如进行障碍物检测、整体运动方式估算、UAV/MAV的稳定控制等.     

A test for stability robustness of linear time‐varying systems utilizing the linear time‐invariant ν‐gap metric

A stability robustness test is developed for internally stable, nominal, linear time‐invariant (LTI) feedback systems subject to structured, linear time‐varying uncertainty. There exists (in the literature) a necessary and sufficient structured small gain condition that determines robust stability in such cases. In this paper, the structured small gain theorem is utilized to formulate a (sufficient) stability robustness condition in a scaled LTI ν‐gap metric framework. The scaled LTI ν‐gap metric stability condition is shown to be computable via linear matrix inequality techniques, similar to the structured small gain condition. Apart from a comparison with a generalized robust stability margin as the final part of the stability test, however, the solution algorithm implemented to test the scaled LTI ν‐gap metric stability robustness condition is shown to be independent of knowledge about the controller transfer function (as opposed to the LMI feasibility problem associated with the scaled small gain condition which is dependent on knowledge about the controller). Thus, given a nominal plant and a structured uncertainty set, the stability robustness condition presented in this paper provides a single constraint on a controller (in terms of a large enough generalized robust stability margin) that (sufficiently) guarantees to stabilize all plants in the uncertainty set. Copyright © 2008 John Wiley & Sons, Ltd.