Minimally invasive cardiac surgery

In a short period of time, tremendous progress has been made in the field of minimally invasive cardiac surgery. The goal of true "minimally invasive" cardiac surgery should be a totally thoracoscopic or transvascular procedure that allows a very short hospital stay and prompt patient recovery at acceptable costs. To accomplish this goal, efforts to miniaturize and refine instrumentation/cannulae/visualization and the development of innovative new techniques must be pursued. The concept of performing intracardiac repair of a variety of pathologies on the beating heart is under investigation and will require a new generation of technology, which will include through-blood imaging, such as blood displacement videoscopes, and task-specific instruments. Robotics may offer additional assistance in the performance of complex and fine maneuvers.     

Context‐Dependent Crowd Evaluation

Many times, even if a crowd simulation looks good in general, there could be some specific individual behaviors which do not seem correct. Spotting such problems manually can become tedious, but ignoring them may harm the simulation's credibility. In this paper we present a data‐driven approach for evaluating the behaviors of individuals within a simulated crowd. Based on video‐footage of a real crowd, a database of behavior examples is generated. Given a simulation of a crowd, an analog analysis is performed on it, defining a set of queries, which are matched by a similarity function to the database examples. The results offer a possible objective answer to the question of how similar are the simulated individual behaviors to real observed behaviors. Moreover, by changing the video input one can change the context of evaluation. We show several examples of evaluating simulated crowds produced using different techniques and comprising of dense crowds, sparse crowds and flocks.     

A new fast prototype selection method based on clustering

In supervised classification, a training set T is given to a classifier for classifying new prototypes. In practice, not all information in T is useful for classifiers, therefore, it is convenient to discard irrelevant prototypes from T. This process is known as prototype selection, which is an important task for classifiers since through this process the time for classification or training could be reduced. In this work, we propose a new fast prototype selection method for large datasets, based on clustering, which selects border prototypes and some interior prototypes. Experimental results showing the performance of our method and comparing accuracy and runtimes against other prototype selection methods are reported.     

Wireless network design via 3-decompositions

We consider some network design problems with applications for wireless networks. The input for these problems is a metric space (X,d) and a finite subset UX of terminals. In the Steiner Tree with Minimum Number of Steiner Points (STMSP) problem, the goal is to find a minimum size set SX−U of points so that the unit-disc graph of S+U is connected. Let Δ be the smallest integer so that for any finite VX for which the unit-disc graph is connected, this graph contains a spanning tree with maximum degree Δ. The best known approximation ratio for STMSP was Δ−1 [I.I. Măndoiu, A.Z. Zelikovsky, A note on the MST heuristic for bounded edge-length Steiner trees with minimum number of Steiner points, Information Processing Letters 75 (4) (2000) 165–167]. We improve this ratio to (Δ+1)/2+1+ε.In the Minimum Power Spanning Tree (MPST) problem, V=X is finite, and the goal is to find a “range assignment” on the nodes so that the edge set contains a spanning tree, and ∑_vVp(v) is minimized. We consider a particular case {0,1}-MPST of MPST when the distances are in {0,1}; here the goal is to find a minimum size set SV of “active” nodes so that the graph (V,E₀+E₁(S)) is connected, where , and E₁(S) is the set the edges in with both endpoints in S. We will show that the (5/3+ε)-approximation scheme for MPST of [E. Althaus, G. Calinescu, I. Măndoiu, S. Prasad, N. Tchervenski, A. Zelikovsky, Power efficient range assignment for symmetric connectivity in static ad hoc wireless networks, Wireless Networks 12 (3) (2006) 287–299] achieves a ratio 3/2 for {0,1}-distances. This answers an open question posed in [E. Lloyd, R. Liu, S. Ravi, Approximating the minimum number of maximum power users in ad hoc networks, Mobile Networks and Applications 11 (2006) 129–142].     

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.     

Co-design of H∞ jump observers for event-based measurements over networks

This work presents a strategy to minimise the network usage and the energy consumption of wireless battery-powered sensors in the observer problem over networks. The sensor nodes implement a periodic send-on-delta approach, sending new measurements when a measure deviates considerably from the previous sent one. The estimator node implements a jump observer whose gains are computed offline and depend on the combination of available new measurements. We bound the estimator performance as a function of the sending policies and then state the design procedure of the observer under fixed sending thresholds as a semidefinite programming problem. We address this problem first in a deterministic way and, to reduce conservativeness, in a stochastic one after obtaining bounds on the probabilities of having new measurements and applying robust optimisation problem over the possible probabilities using sum of squares decomposition. We relate the network usage with the sending thresholds and propose an iterative procedure for the design of those thresholds, minimising the network usage while guaranteeing a prescribed estimation performance. Simulation results and experimental analysis show the validity of the proposal and the reduction of network resources that can be achieved with the stochastic approach.     

Inconsistent heuristics in theory and practice

In the field of heuristic search it is usually assumed that admissible heuristics are consistent, implying that consistency is a desirable attribute. The term “inconsistent heuristic” has, at times, been portrayed negatively, as something to be avoided. Part of this is historical: early research discovered that inconsistency can lead to poor performance for A^? (nodes might be re-expanded many times). However, the issue has never been fully investigated, and was not re-considered after the invention of IDA^?.This paper shows that many of the preconceived notions about inconsistent heuristics are outdated. The worst-case exponential time of inconsistent heuristics is shown to only occur on contrived graphs with edge weights that are exponential in the size of the graph. Furthermore, the paper shows that rather than being something to be avoided, inconsistent heuristics often add a diversity of heuristic values into a search which can lead to a reduction in the number of node expansions. Inconsistent heuristics are easy to create, contrary to the common perception in the AI literature. To demonstrate this, a number of methods for achieving effective inconsistent heuristics are presented.Pathmax is a way of propagating inconsistent heuristic values in the search from parent to children. This technique is generalized into bidirectional pathmax (BPMX) which propagates values from a parent to a child node, and vice versa. BPMX can be integrated into IDA^? and A^?. When inconsistent heuristics are used with BPMX, experimental results show a large reduction in the search effort required by IDA^?. Positive results are also presented for A^? searches.     

A multicriteria approach to two-level hierarchy scheduling in grids

In this paper we address a multicriteria scheduling problem for computational Grid systems. We focus on the two-level hierarchical Grid scheduling problem, in which at the first level (the Grid level) a Grid broker makes scheduling decisions and allocates jobs to Grid nodes. Jobs are then sent to the Grid nodes, where local schedulers generate local schedules for each node accordingly. A general approach is presented taking into account preferences of all the stakeholders of Grid scheduling (end-users, Grid administrators, and local resource providers) and assuming a lack of knowledge about job time characteristics. A single-stakeholder, single-criterion version of the approach has been compared experimentally with the existing approaches.     

Automatic CoDec generation to reduce test engineering cost

TTCN-3 is an abstract language for specification of Abstract Test Suites. Coding of TTCN-3 values into physically transmittable messages and decoding of bitstrings into their TTCN-3 representation has been removed from the language itself and relayed to external and specialized components, called CoDec. CoDec development, either implicitly or explicitly, is a must in any TTCN-3 testing activity. Field experience showed that there is a high cost associated with CoDec development and maintenance. To achieve adequate software engineering practices, a set of types, tools and definitions were developed. This paper unveils gray areas in TTCN-3 architecture and presents a methodological approach to minimize the complexity of CoDec development. Even though the initial field of application is IPv6 testing, the main tool introduced—the CoDec Generator—is a valuable tool in any testing application domain. It is designed to lower the CoDec maintenance costs in all test case lifecycle stages, from development to maintenance. This work has been partly supported by the IST Go4IT European project: .     

SnapPaste: an interactive technique for easy mesh composition

Editing and manipulation of existing 3D geometric objects are a means to extend their repertoire and promote their availability. Traditionally, tools to compose or manipulate objects defined by 3D meshes are in the realm of artists and experts. In this paper, we introduce a simple and effective user interface for easy composition of 3D mesh-parts for non-professionals. Our technique borrows from the cut-and-paste paradigm where a user can cut parts out of existing objects and paste them onto others to create new designs. To assist the user attach objects to each other in a quick and simple manner, many applications in computer graphics support the notion of “snapping”. Similarly, our tool allows the user to loosely drag one mesh part onto another with an overlap, and lets the system snap them together in a graceful manner. Snapping is accomplished using our Soft-ICP algorithm which replaces the global transformation in the ICP algorithm with a set of point-wise locally supported transformations. The technique enhances registration with a set of rigid to elastic transformations that account for simultaneous global positioning and local blending of the objects. For completeness of our framework, we present an additional simple mesh-cutting tool, adapting the graph-cut algorithm to meshes.