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.     

Burned area forecasting using past burned area records and Southern Oscillation Index for tropical Africa (1981-1999)

An 18-year time series of monthly NOAA-AVHRR Pathfinder Land burned area was analyzed for the region of tropical Africa, from July 1981 to June 1999. The transition period between NOAA-11 and NOAA-14 platforms from July 1993 to June 1995 was not included due to missing and outlier data. Stability of the time series was addressed for the input variables in the burned area algorithm, reflectance and temperature channels.A Seasonal AutoRegressive Integrated Moving-Average (SARIMA) model was developed for forecasting potential burned area. The SARIMA model identified an autoregressive regular term with 1-month lag and an autoregressive 12-month seasonal term with one season (12 months) component. A cross-correlation between Southern Oscillation Index (SOI) and burned area was statistically significant predictor variable in a time series with 20-month lag. Results show that the SARIMA model with this predictor improved both, fitting and forecasting, residual variance, by 4.1% and 5.6%, respectively, thereby, demonstrating potential relationship between SOI and burned area for the study region. Forecasting was estimated by considering only the first 16 years of the monthly burned area in the time series, from July 1981 to June 1997. The prediction for the following 24 months (from July 1997 to June 1999) was within the 95% confidence level indicating that the forecast was a valid characterization of the modeled process.     

Relaxed stability and performance conditions for Takagi-Sugeno fuzzy systems with knowledge on membership function overlap.

This correspondence presents a relaxation of some earlier linear matrix inequality (LMI) conditions, which allow setting up less conservative stability or performance conditions for Takagi-Sugeno fuzzy models. Unlike the previous literature, this correspondence takes into account the knowledge of the membership functions' shape by considering bounds on them and their cross products (interpreted as an overlap measure), introducing auxiliary LMI variables. Numerical examples illustrate the achieved improvements.     

Reliability and validity of self-reported burnout in college students: A cross randomized comparison of paper-and-pencil vs. online administration

Internet data collection is becoming increasingly popular in all research fields dealing with human perceptions, behaviors and opinions. Advantages of internet data collection, when compared to the traditional paper-and-pencil format, include reduced costs, automatic database creation, and the absence of researcher-related bias effects, such as availability and complete anonymity. However, the validity and reliability of internet gathered data must be established, in comparison to the usual paper-and-pencil accepted formats, before an inferential analysis can be done. In this study, we compared questionnaire data gathered from the internet with that from the traditional paper-and-pencil in a sample of college students. The questionnaires used were the Maslach Burnout Inventory - Student Survey (MBI-SS), the Oldenburg Burnout Inventory (OBI-SS) and the Copenhagen Burnout Inventory (CBI-SS). Data was gathered through a within-subject cross randomized and counterbalanced design, on both internet and paper-and-pencil formats. The results showed no interference in the application order, and a good reliability for both formats. However, concordance between answers was generally higher in the paper-and-pencil format than on the internet. The factorial structure was invariant in the three burnout inventories. Data gathered in this study supports the Internet as a convenient, user-friendly, comfortable and secure data gathering method which does not affect the accepted factorial structures existent in the paper format of the three burnout inventories used.     

BallotMaps: detecting name bias in alphabetically ordered ballot papers

The relationship between candidates' position on a ballot paper and vote rank is explored in the case of 5000 candidates for the UK 2010 local government elections in the Greater London area. This design study uses hierarchical spatially arranged graphics to represent two locations that affect candidates at very different scales: the geographical areas for which they seek election and the spatial location of their names on the ballot paper. This approach allows the effect of position bias to be assessed; that is, the degree to which the position of a candidate's name on the ballot paper influences the number of votes received by the candidate, and whether this varies geographically. Results show that position bias was significant enough to influence rank order of candidates, and in the case of many marginal electoral wards, to influence who was elected to government. Position bias was observed most strongly for Liberal Democrat candidates but present for all major political parties. Visual analysis of classification of candidate names by ethnicity suggests that this too had an effect on votes received by candidates, in some cases overcoming alphabetic name bias. The results found contradict some earlier research suggesting that alphabetic name bias was not sufficiently significant to affect electoral outcome and add new evidence for the geographic and ethnicity influences on voting behaviour. The visual approach proposed here can be applied to a wider range of electoral data and the patterns identified and hypotheses derived from them could have significant implications for the design of ballot papers and the conduct of fair elections.     

A prototype for cartographic human body analysis

A cartographic-oriented model uses algebraic map operations to perform spatial analysis of medical data relative to the human body. A prototype system uses 3D visualization techniques to deliver analysis results. A prototype implementation suggests the model might provide the basis for a medical application tool that introduces new information insight.     

On analyzing user preference dynamics with temporal social networks

The preferences adopted by individuals are constantly modified as these are driven by new experiences, natural life evolution and, mainly, influence from friends. Studying these temporal dynamics of user preferences has become increasingly important for personalization tasks in information retrieval and recommendation systems domains. However, existing models are too constrained for capturing the complexity of the underlying phenomenon. Online social networks contain rich information about social interactions and relations. Thus, these become an essential source of knowledge for the understanding of user preferences evolution. In this work, we investigate the interplay between user preferences and social networks over time. First, we propose a temporal preference model able to detect preference change events of a given user. Following this, we use temporal networks concepts to analyze the evolution of social relationships and propose strategies to detect changes in the network structure based on node centrality. Finally, we look for a correlation between preference change events and node centrality change events over Twitter and Jam social music datasets. Our findings show that there is a strong correlation between both change events, specially when modeling social interactions by means of a temporal network.     

Information‐driven robotic sampling in the coastal ocean

Efficient sampling of coastal ocean processes, especially mechanisms such as upwelling and internal waves and their influence on primary production, is critical for understanding our changing oceans. Coupling robotic sampling with ocean models provides an effective approach to adaptively sample such features. We present methods that capitalize on information from ocean models and in situ measurements, using Gaussian process modeling and objective functions, allowing sampling efforts to be concentrated to regions with high scientific interest. We demonstrate how to combine and correlate marine data from autonomous underwater vehicles, model forecasts, remote sensing satellite, buoy, and ship‐based measurements, as a means to cross‐validate and improve ocean model accuracy, in addition to resolving upper water‐column interactions. Our work is focused on the west coast of Mid‐Norway where significant influx of Atlantic Water produces a rich and complex physical–biological coupling, which is hard to measure and characterize due to the harsh environmental conditions. Results from both simulation and full‐scale sea trials are presented.     

Integrating Guidance into Relational Reinforcement Learning

Reinforcement learning, and Q-learning in particular, encounter two major problems when dealing with large state spaces. First, learning the Q-function in tabular form may be infeasible because of the excessive amount of memory needed to store the table, and because the Q-function only converges after each state has been visited multiple times. Second, rewards in the state space may be so sparse that with random exploration they will only be discovered extremely slowly. The first problem is often solved by learning a generalization of the encountered examples (e.g., using a neural net or decision tree). Relational reinforcement learning (RRL) is such an approach; it makes Q-learning feasible in structural domains by incorporating a relational learner into Q-learning. The problem of sparse rewards has not been addressed for RRL. This paper presents a solution based on the use of reasonable policies to provide guidance. Different types of policies and different strategies to supply guidance through these policies are discussed and evaluated experimentally in several relational domains to show the merits of the approach.