Vision-based control for rigid body stabilization

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move on . It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system’s trajectory. The resulting solution consists of a feedback control law based on the current and desired image coordinates and reconstructed attitude and depth ratio information, which guarantees that (i) the desired equilibrium point is an almost global attractor; (ii) a set of necessary conditions for feature visibility holds throughout the system’s trajectories; and (iii) the image of a predefined feature point is kept inside the camera’s field of view.     

Active learning paradigms for CBIR systems based on optimum-path forest classification

This paper discusses methods for content-based image retrieval (CBIR) systems based on relevance feedback according to two active learning paradigms, named greedy and planned. In greedy methods, the system aims to return the most relevant images for a query at each iteration. In planned methods, the most informative images are returned during a few iterations and the most relevant ones are only presented afterward. In the past, we proposed a greedy approach based on optimum-path forest classification (OPF) and demonstrated its gain in effectiveness with respect to a planned method based on support-vector machines and another greedy approach based on multi-point query. In this work, we introduce a planned approach based on the OPF classifier and demonstrate its gain in effectiveness over all methods above using more image databases. In our tests, the most informative images are better obtained from images that are classified as relevant, which differs from the original definition. The results also indicate that both OPF-based methods require less user involvement (efficiency) to satisfy the user's expectation (effectiveness), and provide interactive response times.     

IsoGeometric analysis using T-splines on two-patch geometries

We develop optimal approximation estimates for T-splines in the case of geometries obtained by gluing two standard tensor product patches. We derive results both for the T-spline space in the parametric domain and the mapped T-NURBS in the physical one. A set of numerical tests in complete accordance with the theoretical developments is also presented.     

Induction motor fault detection and diagnosis using a current state space pattern recognition

In the last few decades the continuous monitoring of complex dynamic systems has become an increasingly important issue across diverse engineering areas. This paper presents a pattern recognition based system that uses visual-based efficient invariants features for continuous monitoring of induction motors. The procedures presented here are based on the image identification of the 3-D current state space patterns that allow the identification of distinct fault types and, furthermore, their corresponding severity. This automatic fault detection system deals with time-variant electric currents and is based on the identification of three-phase stator currents specified patterns. Several simulation and experimental results are also presented in order to verify the effectiveness of the proposed methodology.     

Tradeoffs in process strategy games with application in the WDM reconfiguration problem

We consider a variant of the graph searching games that models the routing reconfiguration problem in WDM networks. In the digraph processing game, a team of agents aims at processing, or clearing, the vertices of a digraph D. We are interested in two different measures: (1) the total number of agents used, and (2) the total number of vertices occupied by an agent during the processing of D. These measures, respectively, correspond to the maximum number of simultaneous connections interrupted and to the total number of interruptions during a routing reconfiguration in a WDM network.Previous works have studied the problem of independently minimizing each of these parameters. In particular, the corresponding minimization problems are APX-hard, and the first one is known not to be in APX. In this paper, we give several complexity results and study tradeoffs between these conflicting objectives. In particular, we show that minimizing one of these parameters while the other is constrained is NP-complete. Then, we prove that there exist some digraphs for which minimizing one of these objectives arbitrarily impairs the quality of the solution for the other one. We show that such bad tradeoffs may happen even for a basic class of digraphs. On the other hand, we exhibit classes of graphs for which good tradeoffs can be achieved. We finally detail the relationship between this game and the routing reconfiguration problem. In particular, we prove that any instance of the processing game, i.e. any digraph, corresponds to an instance of the routing reconfiguration problem.     

LPS: A Language Prototyping System Using Modular Monadic Semantics

This paper describes LPS, a Language Prototyping System that facilitates the modular development of interpreters from semantic building blocks. The system is based on the integration of ideas from Modular Monadic Semantics and Generic Programming.To define a new programming language, the abstract syntax is described as the fixpoint of non-recursive pattern functors. For each functor an algebra is defined whose carrier is the computational monad obtained from the application of several monad transformers to a base monad. The interpreter is automatically generated by a catamorphism or, in some special cases, a monadic catamorphism.The system has been implemented as a domain-specific language embedded in Haskell and we have also implemented an interactive framework for language testing.     

An adaptive learning approach for 3-D surface reconstruction from point clouds.

In this paper, we propose a multiresolution approach for surface reconstruction from clouds of unorganized points representing an object surface in 3-D space. The proposed method uses a set of mesh operators and simple rules for selective mesh refinement, with a strategy based on Kohonen's self-organizing map (SOM). Basically, a self-adaptive scheme is used for iteratively moving vertices of an initial simple mesh in the direction of the set of points, ideally the object boundary. Successive refinement and motion of vertices are applied leading to a more detailed surface, in a multiresolution, iterative scheme. Reconstruction was experimented on with several point sets, including different shapes and sizes. Results show generated meshes very close to object final shapes. We include measures of performance and discuss robustness.     

Temporal aggregation, systematic sampling, and the Hodrick-Prescott filter

The time aggregation properties of the Hodrick-Prescott (HP) filter, which decomposes a time series into trend and cycle, are analyzed for the case of annual, quarterly, and monthly data. Aggregation of the disaggregate components cannot be obtained as the exact result from direct application of an HP filter to the aggregate series. Employing several criteria, HP decompositions for different levels of aggregation that provide similar results can be found. The aggregation is guided by the principle that the period associated with the frequency for which the filter gain is should not be altered. This criterion is intuitive and easy to apply. It is shown that it is approximated, to the first order, by an already proposed empirical rule and that alternative, more complex criteria yield similar results. Moreover, the values of the smoothing parameter of the HP filter that provide results which are approximately consistent under aggregation are considerably robust with respect to the ARIMA model of the series. Aggregation is found to perform better for the case of temporal aggregation than for systematic sampling. The desirability of exact aggregation consistency is investigated. A clarification concerning the supposed spuriousness of the cycles obtained by the HP filter is discussed.     

Coordination components for collaborative virtual environments

This paper deals with the behavior of virtual environments from the collaboration point-of-view, in which actors (human or virtual beings) interact and collaborate by means of interdependent tasks. In this sense, actors may realize tasks that are dependent on tasks performed by other actors, while the interdependencies between tasks (through resource management and temporal relations) delineate the overall behavior of a virtual environment. Our main goal is to propose an approach for the coordination of those behaviors. Initially a generic study of possible interdependencies between collaborative tasks is presented, followed by the formal modeling (using Petri Nets) of coordination mechanisms for those dependencies. In order to implement such mechanisms, an architecture of reusable and pluggable coordination components is also introduced. These components are used in an implementation of a multi-user videogame. The presented approach is a concrete step to create virtual societies of actors that collaborate to reach common goals without the risk of getting involved in conflicting or repetitive tasks.