A semantically-informed multirobot system for exploration of relevant areas in search and rescue settings

Coordinated multirobot exploration involves autonomous discovering and mapping of the features of initially unknown environments by using multiple robots. Autonomously exploring mobile robots are usually driven, both in selecting locations to visit and in assigning them to robots, by knowledge of the already explored portions of the environment, often represented in a metric map. In the literature, some works addressed the use of semantic knowledge in exploration, which, embedded in a semantic map, associates spatial concepts (like ‘rooms’ and ‘corridors’) with metric entities, showing its effectiveness in improving the total area explored by robots. In this paper, we build on these results and propose a system that exploits semantic information to push robots to explore relevant areas of initially unknown environments, according to a priori information provided by human users. Discovery of relevant areas is significant in some search and rescue settings, in which human rescuers can instruct robots to search for victims in specific areas, for example in cubicles if a disaster happened in an office building during working hours. We propose to speed up the exploration of specific areas by using semantic information both to select locations to visit and to determine the number of robots to allocate to those locations. In this way, for example, more robots could be assigned to a candidate location in a corridor, so the attached rooms can be explored faster. We tested our semantic-based multirobot exploration system within a reliable robot simulator and we evaluated its performance in realistic search and rescue indoor settings with respect to state-of-the-art approaches.     

Determinization and minimization of finite acyclic automata by incremental techniques

The determinization of a nondeterministic finite automaton (FA) is the process of generating a deterministic FA (DFA) equivalent to (sharing the same regular language of) . The minimization of is the process of generating the minimal DFA equivalent to . Classical algorithms for determinization and minimization are available in the literature for several decades. However, they operate monolithically, assuming that the FA to be either determinized or minimized is given once and for all. By contrast, we consider determinization and minimization in a dynamic context, where augments over time: after each augmentation, determinization and minimization of into is required. Using classical monolithic algorithms to solve this problem is bound to poor performance. An algorithm for incremental determinization and minimization of acyclic finite automata, called IDMA, is proposed. Despite being conceived within the narrow domain of model‐based diagnosis and monitoring of active systems, the algorithm is general‐purpose in nature. Experimental evidence indicates that IDMA is far more efficient than classical algorithms in solving incremental determinization and minimization problems. Copyright © 2015 John Wiley & Sons, Ltd.     

A low-power wireless video sensor node for distributed object detection

In this paper we propose MicrelEye, a wireless video node for cooperative distributed video processing applications that involve image classification. The node is equipped with a low-cost VGA CMOS image sensor, a reconfigurable processing engine (FPGA, Microcontroller, SRAM) and a Bluetooth 100-m transceiver. It has a size of few cubic centimeters and its typical power consumption is approximately ten times less than that of typical commercial DSP-based solutions. As regards classification, a highly optimized hardware-oriented support vector machine-like (SVM-like) algorithm called ERSVM is proposed and implemented. We describe our hardware and software architecture, its performance and power characteristics. The case study considered in this paper is people detection. The obtained results suggest that the present technology allows for the design of simple intelligent video nodes capable of performing classification tasks locally.

BPMN: An introduction to the standard

The Business Process Model and Notation (BPMN) is the de-facto standard for representing in a very expressive graphical way the processes occurring in virtually every kind of organization one can think of, from cuisine recipes to the Nobel Prize assignment process, incident management, e-mail voting systems, travel booking procedures, to name a few. In this work, we give an overview of BPMN and we present what are the links with other well-known machineries such as BPEL and XPDL. We give an assessment of how the OMG's BPMN standard is perceived and used by practitioners in everyday business process modeling chores.     

Improving Communication in E-democracy Using Natural Language Processing

E-democracy, the design and development of new techniques for improving communication between public administration and citizens, is a major application field for natural language processing and language engineering. Helping citizens access information in a friendly, intuitive way is the primary objective of a global e-democracy framework. The E-democracy European Network project (EDEN) aimed at discovering whether a particular NLP (natural language processing) approach could further e-democracy by increasing citizens' participation in the decision-making process. The goal was twofold: to test whether e-democracy requirements could be meet using advanced linguistic technology and to test whether augmented phrase structure grammars (APSGs) were robust and well-assessed enough to use in a real-world environment. Also, the aim is to develop two toolsets to improve communication between PAs and citizens in the context of urban planning: a set of NLP-based tools to simplify access to information and knowledge and a set of forum and polling devices     

A declarative two-level framework to specify and verify workflow and authorization policies in service-oriented architectures

The specification of distributed service-oriented applications spans several levels of abstraction, e.g., the protocol for exchanging messages, the set of interface functionalities, the types of the manipulated data, the workflow, the access policy, etc. Many (even executable) specification languages are available to describe each level in separation. However, these levels may interact in subtle ways (for example, the control flow may depend on the values of some data variables) so that a precise abstraction of the application amounts to more than the sum of its per level components. This problem is even more acute in the design phase when automated analysis techniques may greatly help the difficult task of building “correct” applications faced by designers. To alleviate this kind of problems, this paper introduces a framework for the formal specification and automated analysis of distributed service-oriented applications in two levels: one for the workflow and one for the authorization policies. The former allows one to precisely describe the control and data parts of an application with their mutual dependencies. The latter focuses on the specification of the criteria for granting or denying third-party applications the possibility to access shared resources or to execute certain interface functionalities. These levels can be seen as abstractions of one or of several levels of specification mentioned above. The novelty of our proposal is the possibility to unambiguously specify the—often subtle—interplay between the workflow and policy levels uniformly in the same framework. Additionally, our framework allows us to define and investigate verification problems for service-oriented applications (such as executability and invariant checking) and give sufficient conditions for their decidability. These results are non-trivial because their scope of applicability goes well beyond the case of finite state spaces allowing for applications manipulating variables ranging over infinite domains. As proof of concept, we show the suitability and flexibility of our approach on two quite different examples inspired by industrial case studies.     

Contention-based forwarding with multi-hop connectivity awareness in vehicular ad-hoc networks

Recent vehicular routing proposals use real-time road traffic density estimates to dynamically select forwarding paths. Estimating the traffic density in vehicular ad hoc networks requires the transmission of additional dedicated messages increasing the communications load. These proposals are generally based on unicast sender-based forwarding schemes. The greedy nature of sender-based forwarding can result in the selection of forwarders with weak radio links that might compromise the end-to-end performance. To overcome these limitations, this paper presents TOPOCBF, a novel contention-based broadcast forwarding protocol that dynamically selects forwarding paths based on their capability to route packets between anchor points. Such capability is estimated by means of a multi-hop connectivity metric. The obtained results demonstrate that TOPOCBF can provide good packet delivery ratios while reducing the communications load compared to unicast sender-based forwarding schemes using road traffic density estimates.     

Ellipsoidal neighbourhood outlier factor for distributed anomaly detection in resource constrained networks

Anomaly detection in resource constrained wireless networks is an important challenge for tasks such as intrusion detection, quality assurance and event monitoring applications. The challenge is to detect these interesting events or anomalies in a timely manner, while minimising energy consumption in the network. We propose a distributed anomaly detection architecture, which uses multiple hyperellipsoidal clusters to model the data at each sensor node, and identify global and local anomalies in the network. In particular, a novel anomaly scoring method is proposed to provide a score for each hyperellipsoidal model, based on how remote the ellipsoid is relative to their neighbours. We demonstrate using several synthetic and real datasets that our proposed scheme achieves a higher detection performance with a significant reduction in communication overhead in the network compared to centralised and existing schemes.     

Senti‐CS: Building a lexical resource for sentiment analysis using subjective feature selection and normalized Chi‐Square‐based feature weight generation

Sentiment analysis involves the detection of sentiment content of text using natural language processing. Natural language processing is a very challenging task due to syntactic ambiguities, named entity recognition, use of slangs, jargons, sarcasm, abbreviations and contextual sensitivity. Sentiment analysis can be performed using supervised as well as unsupervised approaches. As the amount of data grows, unsupervised approaches become vital as they cut down on the learning time and the requirements for availability of a labelled dataset. Sentiment lexicons provide an easy application of unsupervised algorithms for text classification. SentiWordNet is a lexical resource widely employed by many researchers for sentiment analysis and polarity classification. However, the reported performance levels need improvement. The proposed research is focused on raising the performance of SentiWordNet3.0 by using it as a labelled corpus to build another sentiment lexicon, named Senti‐CS. The part of speech information, usage based ranks and sentiment scores are used to calculate Chi‐Square‐based feature weight for each unique subjective term/part‐of‐speech pair extracted from SentiWordNet3.0. This weight is then normalized in a range of ?1 to +1 using min–max normalization. Senti‐CS based sentiment analysis framework is presented and applied on a large dataset of 50000 movie reviews. These results are then compared with baseline SentiWordNet, Mutual Information and Information Gain techniques. State of the art comparison is performed for the Cornell movie review dataset. The analyses of results indicate that the proposed approach outperforms state‐of‐the‐art classifiers.     

The role of spectral resolution and classifier complexity in the analysis of hyperspectral images of forest areas

Remote sensing hyperspectral sensors are important and powerful instruments for addressing classification problems in complex forest scenarios, as they allow one a detailed characterization of the spectral behavior of the considered information classes. However, the processing of hyperspectral data is particularly complex both from a theoretical viewpoint [e.g. problems related to the Hughes phenomenon (Hughes, 1968) and from a computational perspective. Despite many previous investigations that have been presented in the literature on feature reduction and feature extraction in hyperspectral data, only a few studies have analyzed the role of spectral resolution on the classification accuracy in different application domains. In this paper, we present an empirical study aimed at understanding the relationship among spectral resolution, classifier complexity, and classification accuracy obtained with hyperspectral sensors for the classification of forest areas. We considered two different test sets characterized by images acquired by an AISA Eagle sensor over 126 bands with a spectral resolution of 4.6 nm, and we subsequently degraded its spectral resolution to 9.2, 13.8, 18.4, 23, 27.6, 32.2 and 36.8 nm. A series of classification experiments were carried out with bands at each of the degraded spectral resolutions, and bands selected with a feature selection algorithm at the highest spectral resolution (4.6 nm). The classification experiments were carried out with three different classifiers: Support Vector Machine, Gaussian Maximum Likelihood with Leave-One-Out-Covariance estimator, and Linear Discriminant Analysis. From the experimental results, important conclusions can be made about the choice of the spectral resolution of hyperspectral sensors as applied to forest areas, also in relation to the complexity of the adopted classification methodology. The outcome of these experiments are also applicable in terms of directing the user towards a more efficient use of the current instruments (e.g. programming of the spectral channels to be acquired) and classification techniques in forest applications, as well as in the design of future hyperspectral sensors.