Separating Reflections from Images Using Independent Components Analysis

The image of an object can vary dramatically depending on lighting, specularities/reflections and shadows. It is often advantageous to separate these incidental variations from the intrinsic aspects of an image. Along these lines this paper describes a method for photographing objects behind glass and digitally removing the reflections off the glass leaving the image of the objects behind the glass intact. We describe the details of this method which employs simple optical techniques and independent components analysis (ICA) and show its efficacy with several examples.

Information Processing and Transmission in Cellular Automata

A cellular automaton is an iterative array of very simple identical information processing machines called cells. Each cell can communicate with neighboring cells. At discrete moments of time the cells can change from one state to another as a function of the states of the cell and its neighbors. Thus on a global basis, the collection of cells is characterized by some type of behavior. The goal of this investigation was to determine just how simple the individual cells could be while the global behavior achieved some specified criterion of complexity ??ually the ability to perform a computation or to reproduce some pattern. The chief result described in this thesis is that an array of identical square cells (in two dimensions), each cell of which communicates directly with only its four nearest edge neighbors and each of which can exist in only two states, can perform any computation. This computation proceeds in a straight forward way. A configuration is a specification of the states of all the cells in some area of the iterative array. Another result described in this thesis is the existence of a self-reproducing configuration in an array of four-state cells, a reduction of four states from the previously known eight-state case. The technique of information processing in cellular arrays involves the synthesis of some basic components. Then the desired behaviors are obtained by the interconnection of these components. A chapter on components describes some sets of basic components. Possible applications of the results of this investigation, descriptions of some interesting phenomena (for vanishingly small cells), and suggestions for further study are given later.

Switching Between Discrete and Continuous Process Models to Predict Molecular Genetic Activity

Two kinds of process models have been used in programs that reason about change: Discrete and continuous models. We describe the design and implementation of a qualitative simulator, PEPTIDE, which uses both kinds of process models to predict the behavior of molecular energetic systems. The program uses a discrete process model to simulate both situations involving abrupt changes in quantities and the actions of small numbers of molecules. It uses a continuous process model to predict gradual changes in quantities. A novel technique, called aggregation, allows the simulator to switch between theses models through the recognition and summary of cycles. The flexibility of PEPTIDE's aggregator allows the program to detect cycles within cycles and predict the behavior of complex situations.

Virtual Model Control of a Biped Walking Robot

The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.

Notes on PCA, Regularization, Sparsity and Support Vector Machines

We derive a new representation for a function as a linear combination of local correlation kernels at optimal sparse locations and discuss its relation to PCA, regularization, sparsity principles and Support Vector Machines. We first review previous results for the approximation of a function from discrete data (Girosi, 1998) in the context of Vapnik"s feature space and dual representation (Vapnik, 1995). We apply them to show 1) that a standard regularization functional with a stabilizer defined in terms of the correlation function induces a regression function in the span of the feature space of classical Principal Components and 2) that there exist a dual representations of the regression function in terms of a regularization network with a kernel equal to a generalized correlation function. We then describe the main observation of the paper: the dual representation in terms of the correlation function can be sparsified using the Support Vector Machines (Vapnik, 1982) technique and this operation is equivalent to sparsify a large dictionary of basis functions adapted to the task, using a variation of Basis Pursuit De-Noising (Chen, Donoho and Saunders, 1995; see also related work by Donahue and Geiger, 1994; Olshausen and Field, 1995; Lewicki and Sejnowski, 1998). In addition to extending the close relations between regularization, Support Vector Machines and sparsity, our work also illuminates and formalizes the LFA concept of Penev and Atick (1996). We discuss the relation between our results, which are about regression, and the different problem of pattern classification.

Object Detection in Images by Components

In this paper we present a component based person detection system that is capable of detecting frontal, rear and near side views of people, and partially occluded persons in cluttered scenes. The framework that is described here for people is easily applied to other objects as well. The motivation for developing a component based approach is two fold: first, to enhance the performance of person detection systems on frontal and rear views of people and second, to develop a framework that directly addresses the problem of detecting people who are partially occluded or whose body parts blend in with the background. The data classification is handled by several support vector machine classifiers arranged in two layers. This architecture is known as Adaptive Combination of Classifiers (ACC). The system performs very well and is capable of detecting people even when all components of a person are not found. The performance of the system is significantly better than a full body person detector designed along similar lines. This suggests that the improved performance is due to the components based approach and the ACC data classification structure.

Modeling and Analysis of Two-Part Type Manufacturing Systems

This paper presents a model and analysis of a synchronous tandem flow line that produces different part types on unreliable machines. The machines operate according to a static priority rule, operating on the highest priority part whenever possible, and operating on lower priority parts only when unable to produce those with higher priorities. We develop a new decomposition method to analyze the behavior of the manufacturing system by decomposing the long production line into small analytically tractable components. As a first step in modeling a production line with more than one part type, we restrict ourselves to the case where there are two part types. Detailed modeling and derivations are presented with a small two-part-type production line that consists of two processing machines and two demand machines. Then, a generalized longer flow line is analyzed. Furthermore, estimates for performance measures, such as average buffer levels and production rates, are presented and compared to extensive discrete event simulation. The quantitative behavior of the two-part type processing line under different demand scenarios is also provided.