Robust image-based visual servoing using invariant visual information

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.     

Using frames to disambiguate prepositions

In natural language processing (NLP), disambiguation is the procedure used to solve name conflicts of polysemic concepts (different meanings); in fact, phrase disambiguation is a problem not totally solved in NLP. Several disambiguation types exist; for instance, noun disambiguation (bank is a word with several meanings) or when a word is both used as a noun and as a preposition. Work herein reported describes an algorithm and its implementation to disambiguate prepositions in Spanish phrases; some of them are: a {to} (Translation to English are in bold for explanation purposes; they give only one of the senses of the Spanish word, which usually have multiple meanings.), ante {before}, bajo {under}, cabe {fits}, desde {from}, contra {against}, en {in}, por {by}, según {according to}, sin {without}, entre {between}, so {under}, con {with}, hacia {towards}, sobre {about}, hasta {until}, de {of}, tras {after}, para {for}. This tool will be used in a text analyzer (being built) that converts a text document to its corresponding ontology representation, with the goal of allowing another program to use the information to answer non trivial questions (**).     

An adaptive local binarization method for document images based on a novel thresholding method and dynamic windows

Binary image representation is essential format for document analysis. In general, different available binarization techniques are implemented for different types of binarization problems. The majority of binarization techniques are complex and are compounded from filters and existing operations. However, the few simple thresholding methods available cannot be applied to many binarization problems. In this paper, we propose a local binarization method based on a simple, novel thresholding method with dynamic and flexible windows. The proposed method is tested on selected samples called the DIBCO 2009 benchmark dataset using specialized evaluation techniques for binarization processes. To evaluate the performance of our proposed method, we compared it with the Niblack, Sauvola and NICK methods. The results of the experiments show that the proposed method adapts well to all types of binarization challenges, can deal with higher numbers of binarization problems and boosts the overall performance of the binarization.     

Location allocation modeling for healthcare facility planning in Malaysia

Malaysia has seen tremendous growth in the standard of living and household per capita income. The demand for a more systematic and efficient planning has become increasingly more important, one of the keys to achieving a high standard in healthcare. In this paper, a Maximal Covering Location Problem (MCLP) is used to study the healthcare facilities of one of the districts in Malaysia. We address the limited capacity of the facilities and the problem is formulated as Capacitated MCLP (CMCLP). We propose a new solution approach based on genetic algorithm to examine the percentage of coverage of the existing facilities within the allowable distance specified/targeted by Malaysian government. The algorithm was shown to generate good results when compared to results obtained using CPLEX version 12.2 on a medium size problem consisting of 179 nodes network. The algorithm was extended to solve larger network consisting of 809 nodes where CPLEX failed to produce non-trivial solutions. We show that the proposed solution approach produces significant results in determining good locations for the facility such that the population coverage is maximized.     

Probabilistic assessment of loss in revenue generation in demand-driven production

In Demand-driven Production with Just-in-Time inputs, there are several sources of uncertainty which impact on the manufacturer??s ability to meet the required customer??s demand within the given time frame. This can result in a loss of revenue and customers, which will have undesirable impacts on the financial aspects and on the viability of the manufacturer. Hence, a key concern for manufacturers in just-in-time production is to determine whether they can meet a specific level of demand within a given time frame, to meet the customers?? orders and also to achieve the required revenue target for that period of time. In this paper, we propose a methodology by which a manufacturer can ascertain the probability of not meeting the required demand within a given period by considering the uncertainties in the availability of production units and raw materials, and the loss of financial revenue that it would experience as a result.     

GPU fuzzy c-means algorithm implementations: performance analysis on medical image segmentation

Multimedia Tools and Applications - Image segmentation in the medical imagery such as MRI, is an essential step to the sensitive analysis of human tissues lesions with the objective to improve the...     

Optimize adaptive media playout using dynamic fuzzy logic control for video streaming

Multimedia Tools and Applications - Adaptive Media Playout (AMP) controls adapt playout rate to prevent buffer outage and to reduce delay in playout. Most AMP techniques use buffer fullness or its...     

Numerical solutions of systems of first-order,two-point BVPs based on the reproducing kernel algorithm

The aim of the present analysis is to implement a relatively recent computational algorithm, reproducing kernel Hilbert space, for obtaining the solutions of systems of first-order, two-point boundary value problems for ordinary differential equations. The reproducing kernel Hilbert space is constructed in which the initial–final conditions of the systems are satisfied. Whilst, three smooth kernel functions are used throughout the evolution of the algorithm in order to obtain the required grid points. An efficient construction is given to obtain the numerical solutions for the systems together with an existence proof of the exact solutions based upon the reproducing kernel theory. In this approach, computational results of some numerical examples are presented to illustrate the viability, simplicity, and applicability of the algorithm developed. Finally, the utilized results show that the present algorithm and simulated annealing provide a good scheduling methodology to such systems compared with other numerical methods.     

An analytical hierarchy process-based approach to solve the multi-objective multiple traveling salesman problem

We consider the problem of assigning a team of autonomous robots to target locations in the context of a disaster management scenario while optimizing several objectives. This problem can be cast as a multiple traveling salesman problem, where several robots must visit designated locations. This paper provides an analytical hierarchy process (AHP)-based approach to this problem, while minimizing three objectives: the total traveled distance, the maximum tour, and the deviation rate. The AHP-based approach involves three phases. In the first phase, we use the AHP process to define a specific weight for each objective. The second phase consists in allocating the available targets, wherein we define and use three approaches: market-based, robot and task mean allocation-based, and balanced-based. Finally, the third phase involves the improvement in the solutions generated in the second phase. To validate the efficiency of the AHP-based approach, we used MATLAB to conduct an extensive comparative simulation study with other algorithms reported in the literature. The performance comparison of the three approaches shows a gap between the market-based approach and the other two approaches of up to 30%. Further, the results show that the AHP-based approach provides a better balance between the objectives, as compared to other state-of-the-art approaches. In particular, we observed an improvement in the total traveled distance when using the AHP-based approach in comparison with the distance traveled when using a clustering-based approach.