Abstract: In this paper, we present the recently implemented approach allowing dynamics systems to plan its actions, taking into account the environment perception changes, and to control their execution when uncertainty and incomplete knowledge are the major characteristics of the situated environment [1],[2],[3],[4]. The control distributed architecture has three modules and the approach is related to hierarchical planning: the plan produced by the planner is further refined at the control layer that in turn supervises its execution by a functional level. We propose a new intelligent distributed architecture constituted by: Multi-Agent subsystem of the sensor, of the interpretation and representation of environment [9], of the dynamic localization and of the action. We tested this distributed architecture with dynamic system in the known environment. The autonomous for Rotor Mini Rotorcraft task is described by the primitive actions. The distributed controlbased on multi-agent system is in charge of achieving each task in the best possible way taking into account the context and sensory feedback.
Abstract: The Boundary Representation of a 3D manifold contains
FACES (connected subsets of a parametric surface S : R2 -!
R3). In many science and engineering applications it is cumbersome
and algebraically difficult to deal with the polynomial set and
constraints (LOOPs) representing the FACE. Because of this reason, a
Piecewise Linear (PL) approximation of the FACE is needed, which is
usually represented in terms of triangles (i.e. 2-simplices). Solving the
problem of FACE triangulation requires producing quality triangles
which are: (i) independent of the arguments of S, (ii) sensitive to the
local curvatures, and (iii) compliant with the boundaries of the FACE
and (iv) topologically compatible with the triangles of the neighboring
FACEs. In the existing literature there are no guarantees for the point
(iii). This article contributes to the topic of triangulations conforming
to the boundaries of the FACE by applying the concept of parameterindependent
Gabriel complex, which improves the correctness of the
triangulation regarding aspects (iii) and (iv). In addition, the article
applies the geometric concept of tangent ball to a surface at a point to
address points (i) and (ii). Additional research is needed in algorithms
that (i) take advantage of the concepts presented in the heuristic
algorithm proposed and (ii) can be proved correct.
Abstract: Many experimental results suggest that more precise spike timing is significant in neural information processing. We construct a self-organization model using the spatiotemporal pat-terns, where Spike-Timing Dependent Plasticity (STDP) tunes the conduction delays between neurons. We show that, for highly syn-chronized inputs, the fluctuation of conduction delays causes globally continuous and locally distributed firing patterns through the self-organization.
Abstract: As the enormous amount of on-line text grows on the
World-Wide Web, the development of methods for automatically
summarizing this text becomes more important. The primary goal of
this research is to create an efficient tool that is able to summarize
large documents automatically. We propose an Evolving
connectionist System that is adaptive, incremental learning and
knowledge representation system that evolves its structure and
functionality. In this paper, we propose a novel approach for Part of
Speech disambiguation using a recurrent neural network, a paradigm
capable of dealing with sequential data. We observed that
connectionist approach to text summarization has a natural way of
learning grammatical structures through experience. Experimental
results show that our approach achieves acceptable performance.
Abstract: The weight constrained shortest path problem
(WCSPP) is one of most several known basic problems in
combinatorial optimization. Because of its importance in many areas
of applications such as computer science, engineering and operations
research, many researchers have extensively studied the WCSPP.
This paper mainly concentrates on the reduction of total search space
for finding WCSP using some existing Genetic Algorithm (GA). For
this purpose, some controlled schemes of genetic operators are
adopted on list chromosome representation. This approach gives a
near optimum solution with smaller elapsed generation than classical
GA technique. From further analysis on the matter, a new
generalized schema theorem is also developed from the philosophy
of Holland-s theorem.
Abstract: The design of a complete expansion that allows for
compact representation of certain relevant classes of signals is a
central problem in signal processing applications. Achieving such a
representation means knowing the signal features for the purpose of
denoising, classification, interpolation and forecasting. Multilayer
Neural Networks are relatively a new class of techniques that are
mathematically proven to approximate any continuous function
arbitrarily well. Radial Basis Function Networks, which make use of
Gaussian activation function, are also shown to be a universal
approximator. In this age of ever-increasing digitization in the
storage, processing, analysis and communication of information,
there are numerous examples of applications where one needs to
construct a continuously defined function or numerical algorithm to
approximate, represent and reconstruct the given discrete data of a
signal. Many a times one wishes to manipulate the data in a way that
requires information not included explicitly in the data, which is
done through interpolation and/or extrapolation.
Tidal data are a very perfect example of time series and many
statistical techniques have been applied for tidal data analysis and
representation. ANN is recent addition to such techniques. In the
present paper we describe the time series representation capabilities
of a special type of ANN- Radial Basis Function networks and
present the results of tidal data representation using RBF. Tidal data
analysis & representation is one of the important requirements in
marine science for forecasting.
Abstract: Emotion in speech is an issue that has been attracting
the interest of the speech community for many years, both in the
context of speech synthesis as well as in automatic speech
recognition (ASR). In spite of the remarkable recent progress in
Large Vocabulary Recognition (LVR), it is still far behind the
ultimate goal of recognising free conversational speech uttered by
any speaker in any environment. Current experimental tests prove
that using state of the art large vocabulary recognition systems the
error rate increases substantially when applied to
spontaneous/emotional speech. This paper shows that recognition
rate for emotionally coloured speech can be improved by using a
language model based on increased representation of emotional
utterances.
Abstract: Knowledge is indispensable but voluminous knowledge becomes a bottleneck for efficient processing. A great challenge for data mining activity is the generation of large number of potential rules as a result of mining process. In fact sometimes result size is comparable to the original data. Traditional data mining pruning activities such as support do not sufficiently reduce the huge rule space. Moreover, many practical applications are characterized by continual change of data and knowledge, thereby making knowledge voluminous with each change. The most predominant representation of the discovered knowledge is the standard Production Rules (PRs) in the form If P Then D. Michalski & Winston proposed Censored Production Rules (CPRs), as an extension of production rules, that exhibit variable precision and supports an efficient mechanism for handling exceptions. A CPR is an augmented production rule of the form: If P Then D Unless C, where C (Censor) is an exception to the rule. Such rules are employed in situations in which the conditional statement 'If P Then D' holds frequently and the assertion C holds rarely. By using a rule of this type we are free to ignore the exception conditions, when the resources needed to establish its presence, are tight or there is simply no information available as to whether it holds or not. Thus the 'If P Then D' part of the CPR expresses important information while the Unless C part acts only as a switch changes the polarity of D to ~D. In this paper a scheme based on Dempster-Shafer Theory (DST) interpretation of a CPR is suggested for discovering CPRs from the discovered flat PRs. The discovery of CPRs from flat rules would result in considerable reduction of the already discovered rules. The proposed scheme incrementally incorporates new knowledge and also reduces the size of knowledge base considerably with each episode. Examples are given to demonstrate the behaviour of the proposed scheme. The suggested cumulative learning scheme would be useful in mining data streams.
Abstract: Realistic 3D face model is desired in various
applications such as face recognition, games, avatars, animations, and
etc. Construction of 3D face model is composed of 1) building a face
shape model and 2) rendering the face shape model. Thus, building a
realistic 3D face shape model is an essential step for realistic 3D face
model. Recently, 3D morphable model is successfully introduced to
deal with the various human face shapes. 3D dense correspondence
problem should be precedently resolved for constructing a realistic 3D
dense morphable face shape model. Several approaches to 3D dense
correspondence problem in 3D face modeling have been proposed
previously, and among them optical flow based algorithms and TPS
(Thin Plate Spline) based algorithms are representative. Optical flow
based algorithms require texture information of faces, which is
sensitive to variation of illumination. In TPS based algorithms
proposed so far, TPS process is performed on the 2D projection
representation in cylindrical coordinates of the 3D face data, not
directly on the 3D face data and thus errors due to distortion in data
during 2D TPS process may be inevitable.
In this paper, we propose a new 3D dense correspondence algorithm
for 3D dense morphable face shape modeling. The proposed algorithm
does not need texture information and applies TPS directly on 3D face
data. Through construction procedures, it is observed that the proposed
algorithm constructs realistic 3D face morphable model reliably and
fast.
Abstract: In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.
Abstract: The Continuously Adaptive Mean-Shift (CamShift)
algorithm, incorporating scene depth information is combined with
the l1-minimization sparse representation based method to form a
hybrid kernel and state space-based tracking algorithm. We take
advantage of the increased efficiency of the former with the
robustness to occlusion property of the latter. A simple interchange
scheme transfers control between algorithms based upon drift and
occlusion likelihood. It is quantified by the projection of target
candidates onto a depth map of the 2D scene obtained with a low cost
stereo vision webcam. Results are improved tracking in terms of drift
over each algorithm individually, in a challenging practical outdoor
multiple occlusion test case.
Abstract: This paper describes new computer vision algorithms
that have been developed to track moving objects as part of a
long-term study into the design of (semi-)autonomous vehicles. We
present the results of a study to exploit variable kernels for tracking in
video sequences. The basis of our work is the mean shift
object-tracking algorithm; for a moving target, it is usual to define a
rectangular target window in an initial frame, and then process the data
within that window to separate the tracked object from the background
by the mean shift segmentation algorithm. Rather than use the
standard, Epanechnikov kernel, we have used a kernel weighted by the
Chamfer distance transform to improve the accuracy of target
representation and localization, minimising the distance between the
two distributions in RGB color space using the Bhattacharyya
coefficient. Experimental results show the improved tracking
capability and versatility of the algorithm in comparison with results
using the standard kernel. These algorithms are incorporated as part of
a robot test-bed architecture which has been used to demonstrate their
effectiveness.
Abstract: Purpose of this work is to develop an automatic classification system that could be useful for radiologists in the breast cancer investigation. The software has been designed in the framework of the MAGIC-5 collaboration. In an automatic classification system the suspicious regions with high probability to include a lesion are extracted from the image as regions of interest (ROIs). Each ROI is characterized by some features based generally on morphological lesion differences. A study in the space features representation is made and some classifiers are tested to distinguish the pathological regions from the healthy ones. The results provided in terms of sensitivity and specificity will be presented through the ROC (Receiver Operating Characteristic) curves. In particular the best performances are obtained with the Neural Networks in comparison with the K-Nearest Neighbours and the Support Vector Machine: The Radial Basis Function supply the best results with 0.89 ± 0.01 of area under ROC curve but similar results are obtained with the Probabilistic Neural Network and a Multi Layer Perceptron.
Abstract: Autoregressive Moving average (ARMA) is a parametric based method of signal representation. It is suitable for problems in which the signal can be modeled by explicit known source functions with a few adjustable parameters. Various methods have been suggested for the coefficients determination among which are Prony, Pade, Autocorrelation, Covariance and most recently, the use of Artificial Neural Network technique. In this paper, the method of using Artificial Neural network (ANN) technique is compared with some known and widely acceptable techniques. The comparisons is entirely based on the value of the coefficients obtained. Result obtained shows that the use of ANN also gives accurate in computing the coefficients of an ARMA system.
Abstract: While in practice negotiation is always a mix of
cooperation and competition, these two elements correspond to
different approaches of the relationship and also different orientations
in term of strategy, techniques, tactics and arguments employed by
the negotiators with related effects and in the end leading to different
outcomes. The levels of honesty, trust and therefore cooperation are
influenced not only by the uncertainty of the situation, the objectives,
stakes or power but also by the orientation given from the very
beginning of the relationship. When negotiation is reduced to a
confrontation of power, participants rely on coercive measures, using
different kinds of threats or make false promises and bluff in order to
establish a more acceptable balance of power.
Most of the negotiators have a tendency to complain about the
unethical aspects of the tactics used by their counterparts while, as
the same time, they are mostly unaware of the sources of influence of
their own vision and practices. In this article, our intention is to
clarify these sources and try to understand what can lead negotiators
to unethical practices.
Abstract: Generation system reliability assessment is an
important task which can be performed using deterministic or
probabilistic techniques. The probabilistic approaches have
significant advantages over the deterministic methods. However,
more complicated modeling is required by the probabilistic
approaches. Power generation model is a basic requirement for this
assessment. One form of the generation models is the well known
capacity outage probability table (COPT). Different analytical
techniques have been used to construct the COPT. These approaches
require considerable mathematical modeling of the generating units.
The unit-s models are combined to build the COPT which will add
more burdens on the process of creating the COPT. Decimal to
Binary Conversion (DBC) technique is widely and commonly applied
in electronic systems and computing This paper proposes a novel
utilization of the DBC to create the COPT without engaging in
analytical modeling or time consuming simulations. The simple
binary representation , “0 " and “1 " is used to model the states o f
generating units. The proposed technique is proven to be an effective
approach to build the generation model.
Abstract: Databases have become ubiquitous. Almost all IT applications are storing into and retrieving information from databases. Retrieving information from the database requires knowledge of technical languages such as Structured Query Language (SQL). However majority of the users who interact with the databases do not have a technical background and are intimidated by the idea of using languages such as SQL. This has led to the development of a few Natural Language Database Interfaces (NLDBIs). A NLDBI allows the user to query the database in a natural language. This paper highlights on architecture of new NLDBI system, its implementation and discusses on results obtained. In most of the typical NLDBI systems the natural language statement is converted into an internal representation based on the syntactic and semantic knowledge of the natural language. This representation is then converted into queries using a representation converter. A natural language query is translated to an equivalent SQL query after processing through various stages. The work has been experimented on primitive database queries with certain constraints.
Abstract: The density estimates considered in this paper comprise
a base density and an adjustment component consisting of a linear
combination of orthogonal polynomials. It is shown that, in the
context of density approximation, the coefficients of the linear combination
can be determined either from a moment-matching technique
or a weighted least-squares approach. A kernel representation of
the corresponding density estimates is obtained. Additionally, two
refinements of the Kronmal-Tarter stopping criterion are proposed
for determining the degree of the polynomial adjustment. By way of
illustration, the density estimation methodology advocated herein is
applied to two data sets.
Abstract: This paper considers a robust recovery of sparse frequencies
from partial phase-only measurements. With the proposed
method, sparse frequencies can be reconstructed, which makes full
use of the sparse distribution in the Fourier representation of the
complex-valued time signal. Simulation experiments illustrate the
proposed method-s advantages over conventional methods in both
noiseless and additive white Gaussian noise cases.
Abstract: Current practice of indigenous Mapping production based on GIS, are mostly produced by professional GIS personnel. Given such persons maintain control over data collection and authoring, it is possible to conceive errors due to misrepresentation or cognitive misunderstanding, causing map production inconsistencies. In order to avoid such issues, this research into tribal GIS interface focuses not on customizing interfaces for individual tribes, but rather generalizing the interface and features based on indigenous tribal user needs. The methods employed differs from the traditional expert top-down approach, and instead gaining deeper understanding into indigenous Mappings and user needs, prior to applying mapping techniques and feature development.