Branch-and-Bound Methods for Euclidean Registration Problems

In this paper, we propose a practical and efficient method for finding the globally optimal solution to the problem of determining the pose of an object. We present a framework that allows us to use point-to-point, point-to-line, and point-to-plane correspondences for solving various types of pose and registration problems involving euclidean (or similarity) transformations. Traditional methods such as the iterative closest point algorithm or bundle adjustment methods for camera pose may get trapped in local minima due to the nonconvexity of the corresponding optimization problem. Our approach of solving the mathematical optimization problems guarantees global optimality. The optimization scheme is based on ideas from global optimization theory, in particular convex underestimators in combination with branch-and-bound methods. We provide a provably optimal algorithm and demonstrate good performance on both synthetic and real data. We also give examples of where traditional methods fail due to the local minima problem.     

A Unified Variational Volume Registration Method Based on Automatically Learned Brain Structures

We introduce a new volumetric registration technique that effectively combines active surfaces with the finite element method. The method simultaneously aligns multi-label automatic structural segmentation results, which can be obtained by the application of existing segmentation software, to produce an anatomically accurate 3D registration. This registration is obtained by the minimization of a single energy functional. Just like registering raw images, obtaining a 3D registration this way still requires solving a fundamentally ill-posed problem. We explain through academic examples as well as an MRI dataset with manual anatomical labels, which are hidden from the registration method, how the quality of a registration method can be measured and the advantages our approach offers.     

Racing to the precipice: a model of artificial intelligence development

This paper presents a simple model of an AI (artificial intelligence) arms race, where several development teams race to build the first AI. Under the assumption that the first AI will be very powerful and transformative, each team is incentivised to finish first—by skimping on safety precautions if need be. This paper presents the Nash equilibrium of this process, where each team takes the correct amount of safety precautions in the arms race. Having extra development teams and extra enmity between teams can increase the danger of an AI disaster, especially if risk-taking is more important than skill in developing the AI. Surprisingly, information also increases the risks: the more teams know about each others’ capabilities (and about their own), the more the danger increases. Should these results persist in more realistic models and analysis, it points the way to methods of increasing the chance of the safe development of AI.     

Optimal setpoint chasing in dynamic positioning of deep‐water drilling and intervention vessels

Conventional controller designs for dynamic positioning of ships and floating marine structures have so far been based on the principle on automatic positioning in the horizontal‐plane about desired position and heading co‐ordinates defined by the operator. A three degrees‐of‐freedom multivariable controller either of linear or nonlinear type, normally with feedback signals from surge, sway and yaw position and velocities, has been regarded as adequate for the control objective. For floating structures with small waterplane area such as semi‐submersibles, feedback from roll and pitch angular rotation velocity may also be included to avoid thrust‐induced roll and pitch motions that are caused by the hydrodynamic and the geometrical couplings between the horizontal and vertical planes. However, for certain marine operations this control philosophy may not be the most appropriate approach ensuring safety and cost effectiveness. For drilling and work‐over operations the main positioning objective is to minimize the bending stresses along the riser and the riser angle magnitudes at the well head on the subsea structure, and at the top joint as well. A positioning control strategy solely based on manual setting of the desired position co‐ordinates may not be the most optimal solution for these applications. In this paper a new hybrid dynamic positioning controller, that also accounts for riser angle offsets and bending stresses is proposed. It is shown that a significant reduction in riser angle magnitude can be achieved. Simulations with a drilling semi‐submersible demonstrate the effect of the proposed control strategy. Copyright © 2001 John Wiley & Sons, Ltd.     

Oscillatory Metastability in Optical Network Synchronizer Circuits

Synchronization of signal packets is required in networks in order to route the packets. Due to changes in the interarrival times of the packets the inputs to the routing circuits may exhibit oscillatory metastability. Oscillatory metastability can be eliminated in optical circuits by the addition of logic signal stretch. This can be done because the propagation time of optics can be precisely controlled. An algorithm for inserting logic signal stretch to eliminate oscillatory metastability is presented herein.     

Wide-range fiber-optic strain sensor

A wide-range strain sensor which utilizes optical fiber as the transducing element is reported. This device differs from the well-known microbend type sensor in that a roller chain is used to impose constant curvature bends on the fiber, rather than a corrugated plate which imposes sinusoidal bends in the microbend sensors. This change also leads to a wide range of sensitivity adjustment and a linear calibration curve.     

Social desirability and the randomized response technique.

The randomized response technique (RRT) is designed to increase respondents' willingness to answer truthfully questions of a sensitive or socially undesirable nature. This study tested the hypothesis that the difference between the proportion of "yes" responses obtained under self-administered direct questioning and the proportion of "yes" responses obtained under an RRT procedure would be related to the social desirability of a "yes" response to the question. The hypothesis was confirmed by data from 404 undergraduates; the RRT may provide more valid responses to items of a socially desirable and undesirable nature. The RRT deserves more attention because it can circumvent biases due to untruthful responding, demand characteristics, and evaluation apprehension as well as assure the confidentiality of the data. (29 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Neue Triterpens?uren der Weintraubenschale

Zusammenfassung Die Cuticula von Traubenschalen enthält neben Oleanolsäure noch 3-Oxo-olean-12-en28-säure, 3-Hydroxi-olean-12-en-28-aldehyd, 3,29-Dihydroxi-olean-12-en-28-säure sowie zwei bisher unbekannte Triterpensäuren. Ihre Strukturen werden durch spektroskopische Daten als 16-Hydroxi-3-oxo-olean-12-en-28-säure und 16-Hydroxi-3-oxo-oleana-1,12-dien-28-säure belegt.

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New triterpenic acids from the peel of grapes

Summary The grape-cuticle contains beside oleanolic acid, 3-oxo-olean-12-en-28-oic acid, 3-hydroxy-olean-12-en-28-aldehyde, 3,29-dihydroxy-olean-12-en-28-oic acid, and two yet hitherto unknown triterpenic acids. Their structures have been elucidated by spectroscopic methods to be l6-hydroxy-3-oxo-olean-12-en-28-oic acid and 16-hydroxy-3-oxo-oleana-1,12-dien-28-oic acid.

     

Characteristics of an immobilized lipase for the commercial synthesis of esters

The lipase-catalyzed synthesis of ester bonds has been well-documented lately and is of much current commercial interest. Immobilization of a fungal lipase on a unique macroporous support allows not only the ability to operate in non-aqueous media but to catalyze ester synthesis in quantitative yields, employing attractive commercial conditions. Catalyst dose and process configurations will be illustrated. The capability of the catalyst to operate efficiently in reverse under a variety of unnatural, hostile, solvent-containing environments will be discussed. The range of substrates for this immobilized lipase, Lipzome, has been investigated. The enzyme will catalyze ester synthesis with saturated, unsaturated and a variety of branched carboxylic acids. The alcohol specificity for this enzyme also is equally broad. A wide variety of straight-chain, branched and polar alcohols can be substrates. In addition, some examples of alcohol specificity for kinetic isomer resolution will be cited. Presented at the symposium “The Biology, Biotechnology and Technology of Lipases” at the 78th annual meeting of the American Oil Chemists’ Society held May 17–21, 1987, in New Orleans, Louisiana.