Algorithms for invariant long-wave infrared face segmentation: evaluation and comparison

This paper presents two methods for automatic segmentation of images of faces captured in long wavelength infrared, allowing a wide range of face rotations, expressions and artifacts (such as glasses and hats). We also present the validation of segmentation results using a recognition method to show the impact of the segmentation accuracy on the recognition. The paper presents two different approaches (one aimed at real-time performance and the other at high accuracy) and compares their performance against three other previously published methods. The proposed approaches are based on statistical modeling of pixel intensities and active contour application, although several other image processing operations are also performed. Experiments were performed on a total of 893 test images from four public available databases. The obtained results improve on previous existing methods up to 29.5 % for the first measure error (E ₁) and up to 34.7 % for the second measure (E ₂), depending on the method and database. Regarding the computational time, our proposals improve up to 63.32 % when compared with the other proposals. We also present the validation of the various segmentation methods that are presented by applying a face recognition method.     

Shortcut fusion rules for the derivation of circular and higher-order programs

Functional programs often combine separate parts using intermediate data structures for communicating results. Programs so defined are modular, easier to understand and maintain, but suffer from inefficiencies due to the generation of those gluing data structures. To eliminate such redundant data structures, some program transformation techniques have been proposed. One such technique is shortcut fusion, and has been studied in the context of both pure and monadic functional programs. In this paper, we study several shortcut fusion extensions, so that, alternatively, circular or higher-order programs are derived. These extensions are also provided for effect-free programs and monadic ones. Our work results in a set of generic calculation rules, that are widely applicable, and whose correctness is formally established.     

Understanding dengue fever dynamics: a study of seasonality in vector-borne disease models

Dengue fever dynamics show seasonality, with the disease transmission being higher during the warmer seasons. In this paper, we analyse seasonally forced epidemic models with and without vector dynamics. We assume small seasonal effects and obtain approximations for the real response of each state variable and also for the corresponding amplitude and phase via decomposition of the sinusoidal forcing into imaginary exponential functions. The analysis begins with the simplest susceptible-infected-susceptible (SIS) model, followed by the simplest model with vector dynamics, susceptible-infected-susceptible for hosts and uninfected-vector (SISUV). Finally, we compare the more complex susceptible-infected-recovered (SIR) and susceptible-infected-recovered for hosts and uninfected-vector (SIRUV) models and conclude that the models give basically the same information when we replace, in the SIR model, the human infectivity by a function of both human and mosquito infectivities.     

Adaptive Robot Biped Locomotion with Dynamic Motion Primitives and Coupled Phase Oscillators

In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. In this paper, we present a robot control framework that provides adaptive biped locomotion by combining the modulation of dynamic movement primitives (DMPs) with rhythm and phase coordination. The first objective is to explore the use of rhythmic movement primitives for generating biped locomotion from human demonstrations. The second objective is to evaluate how the proposed framework can be used to generalize and adapt the human demonstrations by adjusting a few open control parameters of the learned model. This paper contributes with a particular view into the problem of adaptive locomotion by addressing three aspects that, in the specific context of biped robots, have not received much attention. First, the demonstrations examples are extracted from human gaits in which the human stance foot will be constrained to remain in flat contact with the ground, forcing the “bent-knee” at all times in contrast with the typical straight-legged style. Second, this paper addresses the important concept of generalization from a single demonstration. Third, a clear departure is assumed from the classical control that forces the robot’s motion to follow a predefined fixed timing into a more event-based controller. The applicability of the proposed control architecture is demonstrated by numerical simulations, focusing on the adaptation of the robot’s gait pattern to irregularities on the ground surface, stepping over obstacles and, at the same time, on the tolerance to external disturbances.     

On the constraints violation in forward dynamics of multibody systems

It is known that the dynamic equations of motion for constrained mechanical multibody systems are frequently formulated using the Newton–Euler’s approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of partial differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. The classical solution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is offered. The basic idea of the described approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as a function of the Moore–Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. The described methodology is embedded in the standard method to solve the equations of motion based on the technique of Lagrange multipliers. Finally, the effectiveness of the described methodology is demonstrated through the dynamic modeling and simulation of different planar and spatial multibody systems. The outcomes in terms of constraints violation at the position and velocity levels, conservation of the total energy and computational efficiency are analyzed and compared with those obtained with the standard Lagrange multipliers method, the Baumgarte stabilization method, the augmented Lagrangian formulation, the index-1 augmented Lagrangian, and the coordinate partitioning method.     

Hyperbaric storage at and above room temperature of a highly perishable food

Hyperbaric storage at naturally variable room temperature (RT) conditions (18–21 °C) and above (30 °C) was evaluated as a possible new food preservation method, regardless of temperature. Preservation of watermelon juice (used as a case study of a highly perishable food) at RT and 5 °C at atmospheric pressure was compared to preservation under 100 MPa at RT. After 8 h of hyperbaric storage at 100 MPa, the initial microbial loads of the watermelon juice were reduced by 1 log unit for total aerobic mesophiles, and 1–2 log units for Enterobacteriaceae and yeasts and moulds, to levels of about 3 log units for the former and below the detection limit for the latter, and remained thereafter unchanged up to 60 h. Similar results were obtained at 30 °C at 100 MPa after 8 h. At atmospheric pressure at RT (24 h) and 30 °C (8 h), microbial levels were already above quantification limits and unacceptable for consumption. Furthermore, pressure attenuated the increase in titratable acidity verified at atmospheric pressure, but caused higher colour changes, especially a higher lightness and a lower browning degree. Post-hyperbaric storage at 5 °C revealed an extended shelf life, as an additional benefit of hyperbaric storage. These results show that hyperbaric storage is a very promising food preservation methodology.     

Laboratory tests on the elimination of the pinewood nematode (Bursaphelenchus xylophilus) in Pinus pinaster wood by high pressure

The efficacy of high pressure processing, a non-thermal phytosanitary treatment, to eliminate Bursaphelenchus xylophilus in Pinus pinaster wood was evaluated. Infected wood sections and chips were exposed to high pressure processing for 5 min at 5, 15 and 30 MPa. Live nematodes were observed in wood sections and chips treated at 5 and 15 MPa but at 30 MPa no nematodes were detected. The results revealed that high pressure processing was successful in eliminating B. xylophilus from wood materials.