Field D* path-finding on weighted triangulated and tetrahedral meshes

Classic shortest path algorithms operate on graphs, which are suitable for problems that can be represented by weighted nodes or edges. Finding a shortest path through a set of weighted regions is more difficult and only approximate solutions tend to scale well. The Field D* algorithm efficiently calculates an approximate, interpolated shortest path through a set of weighted regions and was designed for navigating robots through terrains with varying characteristics. Field D* operates on unit grid or quad-tree data structures, which require high resolutions to accurately model the boundaries of irregular world structures. In this paper, we extend the Field D* cost functions to 2D triangulations and 3D tetrahedral meshes: structures which model polygonal world structures more accurately. Since robots typically have limited resources available for computation and storage, we pay particular attention to computation and storage overheads when detailing our extensions. We begin by providing analytic solutions to the minimum of each cost function for 2D triangles and 3D tetrahedra. Our triangle implementation provides a 50 % improvement in performance over an existing triangle implementation. While our 3D extension to tetrahedra is the first full analytic extension of Field D* to 3D, previous work only provided an approximate minimization for a single cost function on a 3D cube with unit lengths. Each cost function is expressed in terms of a general function whose characteristics can be exploited to reduce the calculations required to find a minimum. These characteristics can also be exploited to cache the majority of cost functions, producing a speedup of up to 28 % in the 3D tetrahedral case. We demonstrate that, in environments composed of non-grid aligned data, Multi-resolution quad-tree Field D* requires an order of magnitude more faces and between 15 and 20 times more node expansions, to produce a path of similar cost to one produced by a triangle implementation of Field D* on a lower resolution triangulation. We provide examples of 3D pathing through models of complex topology, including pathing through anatomical structures extracted from a medical data set. To summarise, this paper details a robust and efficient extension of Field D* pathing to data sets represented by weighted triangles and tetrahedra, and also provides empirical data which demonstrates the reduction in storage and computation costs that accrue when one chooses such a representation over the more commonly used quad-tree and grid-based alternatives.     

A comparison of two MLEM2 rule induction algorithms extended to probabilistic approximations

A probabilistic approximation is a generalization of the standard idea of lower and upper approximations, defined for equivalence relations. Recently probabilistic approximations were additionally generalized to an arbitrary binary relation so that probabilistic approximations may be applied for incomplete data. We discuss two ways to induce rules from incomplete data using probabilistic approximations, by applying true MLEM2 algorithm and an emulated MLEM2 algorithm. In this paper we report novel research on a comparison of both approaches: new results of experiments on incomplete data with three interpretations of missing attribute values. Our results show that both approaches do not differ much.     

Safer asynchronous runtime monitoring using compensations

Asynchronous monitoring relieves the system from additional overheads induced through online runtime monitoring. The price paid with such monitoring approaches is that the system may proceed further despite having reached an anomalous state. Any actions performed by the system after the error occurring are undesirable, since for instance, an unchecked malicious user access may perform unauthorized actions. In this paper we investigate the use of compensations to enable the undoing of such undesired actions, thus enriching asynchronous monitoring with the ability to restore the system to the original state just after the anomaly had occurred. Furthermore, we show how adaptive synchronisation and desynchronisation of the monitor with the system can also be achieved and report on the use of the proposed approach on an industrial case study of a financial transaction handling system.     

Revealing performance heterogeneity through knowledge management maturity evaluation: A capability-based approach

The dynamic capabilities view (DCV) focuses on renewal of firms’ strategic knowledge resources so as to sustain competitive advantage within turbulent markets. Within the context of the DCV, the focus of knowledge management (KM) is to develop the KMC through deploying knowledge governance mechanisms that are conducive to facilitating knowledge processes so as to produce superior business performance over time. The essence of KM performance evaluation is to assess how well the KMC is configured with knowledge governance mechanisms and processes that enable a firm to achieve superior performance through matching its knowledge base with market needs. However, little research has been undertaken to evaluate KM performance from the DCV perspective. This study employed a survey study design and adopted hypothesis-testing approaches to develop a capability-based KM evaluation framework (CKMEF) that upholds the basic assertions of the DCV. Under the governance of the framework, a KM index (KMI) and a KM maturity model (KMMM) were derived not only to indicate the extent to which a firm’s KM implementations fulfill its strategic objectives, and to identify the evolutionary phase of its KMC, but also to bench-mark the KMC in the research population. The research design ensured that the evaluation framework and instruments have statistical significance and good generalizabilty to be applied in the research population, namely construction firms operating in the dynamic Hong Kong construction market. The study demonstrated the feasibility of quantitatively evaluating the development of the KMC and revealing the performance heterogeneity associated with the development.     

Connectivity of core habitat in the Northeastern United States: Parks and protected areas in a landscape context

The exurbanization process, particularly rural residential development, is reducing the amount of roadless areas and remote habitat across the nation, with implications for biodiversity and ecosystem integrity of parks and protected areas. The need for connecting protected areas via existing habitat centers, or relatively undisturbed core areas, is greater than ever as exurbanization expands. Our objective was to make use of nationally available data sets on roads as well as information derived from satellite imagery, including impervious cover of the built environment and forest canopy density, to identify core habitat of the northeastern and mid-Atlantic USA. The identified core habitat areas, which covered 73,730 km² across 1177 discrete units, were stratified in terms of land ownership and management, and then analyzed in a landscape context using connectivity metrics derived from graph theory. The connectivity analysis made use of a suitability surface, derived from the land cover information, which approximated the costs incurred by hypothetical animals traversing the landscape. We show that protected areas are frequently identified as core habitat but are typically isolated, albeit sometimes buffered by adjacent multi-use lands (such as state or national forests). Over one third of the core habitat we identified has no protection, and another 42% is subject to motorized recreation or timber extraction. We provide maps showing the relative importance of core habitat areas for potentially connecting existing protected areas, and also provide an example of the vulnerability of connectivity to projected future residential development around one greater park ecosystem.     

Relationships between ability requirements and human errors in job tasks.

This article describes a program of research investigating the relations between abilities required to perform job tasks and human error probabilities while performing these tasks. Study 1, using objectively derived human errors made in performing Air Force job tasks, evaluated an ability-requirements classification methodology and found that error rates were related to the numbers, types, and levels of different abilities required. In Study 2, subject matter expert panels used the methodology to identify the ability requirements of tasks in 2 different jobs found in each of 2 types of nuclear power plants. This study, using a task-anchored scale of human error probability, replicated the findings of Study 1, identified 2 ability requirements that cross-validated in predicting task-error probabilities across both jobs and plants, and identified other abilities specific to error probabilities in each job. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Drug use and validity of substance use self-reports in veterans seeking help for posttraumatic stress disorder.

The present study assessed drug use and the validity of self–reports of substance use among help–seeking veterans referred to a specialty clinic for the assessment of posttraumatic stress disorder (PTSD). Patients (n?=?341) were asked to provide a urine sample for use in drug screening as part of an evaluation of PTSD. Self–reports of substance use were compared with same–day supervised urine samples for 317 patients who volunteered to participate in a drug screening. Results suggested that self–reports were generally quite valid. Only 8% of the cases involved patients not reporting substance use detected by urine screens. A total of 42% of the participants were identified as using drugs of abuse (excluding alcohol) through self–report and urine drug screens. Among participants using drugs, PTSD diagnosis was significantly associated with greater marijuana and depressant use as compared with stimulant (cocaine and amphetamines) use. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Children's strategy use in computational estimation.

Examined strategic aspects of children's performance in computational estimation. 23 5th-grade children (aged 10 yrs old) were asked to provide estimates of 48 3- by 3-digit addition problems. After each problem, Ss were asked to say how they found the solution. Verbal protocols, speed, and accuracy were collected for each problem so as to identify which computational estimation strategy is used on each trial, and how each strategy is used, selected, and executed. The results show that children used 4 strategies: rounding with decomposition, rounding without decomposition, truncation, and compensation. Strategies appeared to differ in frequency and effectiveness. Finally, children chose strategies in an adaptive way so as to obtain fast and accurate performance. Implications of these findings for understanding children's computational estimation performance and strategies in numerical cognition in general are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Responding to threat: Hemispheric asymmetries and interhemispheric division of input.

This investigation examined how hemispheric asymmetry and interhemispheric processing contribute to attentional biases toward emotional information. Participants (n?=?88) named the color of lateralized squares presented concurrently with neutral, positive, or threatening words. A left-hemisphere advantage in color naming was reduced when distractors were emotional, suggesting right-hemisphere priming by emotional stimuli. Furthermore, the advantage of dividing the word and color across visual fields was increased for emotion words when they were frequently presented, indicating a strategic use of interhemispheric division of labor to reduce the distracting effect of emotional words. Finally, participants with high levels of anxious apprehension were most likely to make use of this interhemispheric processing strategy, supporting a processing efficiency theory of cognitive function in anxiety. (PsycINFO Database Record (c) 2010 APA, all rights reserved)