Parameter identification for nonlinear systems: Guaranteed confidence regions through LSCR

In this paper we consider the problem of constructing confidence regions for the parameters of nonlinear dynamical systems. The proposed method uses higher order statistics and extends the LSCR (leave-out sign-dominant correlation regions) algorithm for linear systems introduced in Campi and Weyer [2005, Guaranteed non-asymptotic confidence regions in system identification. Automatica 41(10), 1751-1764. Extended version available at 〈http://www.ing.unibs.it/∼campi〉]. The confidence regions contain the true parameter value with a guaranteed probability for any finite number of data points. Moreover, the confidence regions shrink around the true parameter value as the number of data points increases. The usefulness of the proposed approach is illustrated on some simple examples.     

Active state estimation for nonlinear systems: a neural approximation approach.

In this paper, we consider the problem of actively providing an estimate of the state of a stochastic dynamic system over a (possibly long) finite time horizon. The active estimation problem (AEP) is formulated as a stochastic optimal control one, in which the minimization of a suitable uncertainty measure is carried out. Toward this end, the use of the Renyi entropy as an information measure is proposed and motivated. A neural control scheme, based on the application of the extended Ritz method (ERIM) and on the use of a Gaussian sum filter (GSF), is then presented. Simulation results show the effectiveness of the proposed approach.     

Two-Way Protocol with Imperfect Devices

The security of a deterministic quantum scheme for communication, namely the LM05 [1], is studied in presence of a lossy channel under the assumption of imperfect generation and detection of single photons. It is shown that the scheme allows for a rate of distillable secure bits higher than that pertaining to BB84 [2]. We report on a first implementation of LM05 with weak pulses.     

Robot control and parameter estimation with only joint position measurements

Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory.     

Defensive allomones in three species ofHypselodoris (gastropoda: Nudibranchia) from the Cantabrian sea

ThreeHypselodoris species,H. villafranca, H. cantabrica, and H. tricolor, have been studied in order to further investigate the defensive strategies of Chromodorididae mollusks from Iberian coasts. All animals possess large amounts of furanosesquiterpenoids, probably derived from their diet of sponges. The products are transferred and stored in specific sites of the mantle (mantle dermal formations, MDFs) to be used as chemical deterrents against predators. Chemical analysis of CantabrianHypselodoris species has led to the characterization of eight sesquiterpenoids. Among these, six have been found previously in both sponges and nudibranchs, while two are new natural products.Hypselodoris species cooccurring in the same area contained comparable mixtures of sesquiterpenoids. However, two populations ofH. cantabrica from different sites of the Cantabrian sea showed different metabolic patterns. All sesquiterpenoids induce feeding deterrence inCarassius auratus and two are also toxic toGambusia affinis.     

How far can one compress digital fault records? Analysis of a matching pursuit-based algorithm

In this paper, we verify how far electric disturbance signals can be compressed without compromising the analysis of encoded fault records. A recently proposed compression algorithm, referred to as Damped Sinusoidal Matching Pursuit (DSMP) has the remarkable feature of obtaining both compact and physically interpretable representations. However, for fault analysis applications, one is primarily interested in how accurate can be the analysis performed on compressed signals, instead of evaluating mean-squared error figures. Unlike previous works in digital fault records compression, the performance of the DSMP compression method is evaluated using a protocol based on fault analysis procedures commonly performed by expert engineers. This protocol is applied for comparing the results obtained in the analysis of both uncompressed records and their compressed versions at different compression ratios. The results show that the DSMP is a reliable compression system since it achieves high compression ratios (6.4:1) without causing fault analysis misinterpretation.     

Flow-based local optimization for image-to-geometry projection

The projection of a photographic data set on a 3D model is a robust and widely applicable way to acquire appearance information of an object. The first step of this procedure is the alignment of the images on the 3D model. While any reconstruction pipeline aims at avoiding misregistration by improving camera calibrations and geometry, in practice a perfect alignment cannot always be reached. Depending on the way multiple camera images are fused on the object surface, remaining misregistrations show up either as ghosting or as discontinuities at transitions from one camera view to another. In this paper we propose a method, based on the computation of Optical Flow between overlapping images, to correct the local misalignment by determining the necessary displacement. The goal is to correct the symptoms of misregistration, instead of searching for a globally consistent mapping, which might not exist. The method scales up well with the size of the data set (both photographic and geometric) and is quite independent of the characteristics of the 3D model (topology cleanliness, parametrization, density). The method is robust and can handle real world cases that have different characteristics: low level geometric details and images that lack enough features for global optimization or manual methods. It can be applied to different mapping strategies, such as texture or per-vertex attribute encoding.     

PhotoGeo: a photo digital library with spatial-temporal support and self-annotation

The recent popularity of digital cameras has posed a new problem: how to efficiently store and retrieve the very large number of digital photos captured and chaotically stored in multiple locations without any annotation. This paper proposes an infrastructure, called PhotoGeo, which aims at helping users with the people photo annotation, event photo annotation, storage and retrieval of personal digital photos. To achieve the desired objective, PhotoGeo uses new algorithms that make it possible to annotate photos with the key metadata to facilitate their retrieval, such as: the people who were shown in the photo (who); where it was captured (where); the date and time of capture (when); and the event that was captured. The paper concludes with a detailed evaluation of these algorithms.