Convergence analysis and validation of low cost distance metrics for computational cost reduction of the Iterative Closest Point algorithm

The Iterative Closest Point algorithm (ICP) is commonly used in engineering applications to solve the rigid registration problem of partially overlapped point sets which are pre-aligned with a coarse estimate of their relative positions. This iterative algorithm is applied in many areas such as the medicine for volumetric reconstruction of tomography data, in robotics to reconstruct surfaces or scenes using range sensor information, in industrial systems for quality control of manufactured objects or even in biology to study the structure and folding of proteins. One of the algorithm’s main problems is its high computational complexity (quadratic in the number of points with the non-optimized original variant) in a context where high density point sets, acquired by high resolution scanners, are processed. Many variants have been proposed in the literature whose goal is the performance improvement either by reducing the number of points or the required iterations or even enhancing the complexity of the most expensive phase: the closest neighbor search. In spite of decreasing its complexity, some of the variants tend to have a negative impact on the final registration precision or the convergence domain thus limiting the possible application scenarios. The goal of this work is the improvement of the algorithm’s computational cost so that a wider range of computationally demanding problems from among the ones described before can be addressed. For that purpose, an experimental and mathematical convergence analysis and validation of point-to-point distance metrics has been performed taking into account those distances with lower computational cost than the Euclidean one, which is used as the de facto standard for the algorithm’s implementations in the literature. In that analysis, the functioning of the algorithm in diverse topological spaces, characterized by different metrics, has been studied to check the convergence, efficacy and cost of the method in order to determine the one which offers the best results. Given that the distance calculation represents a significant part of the whole set of computations performed by the algorithm, it is expected that any reduction of that operation affects significantly and positively the overall performance of the method. As a result, a performance improvement has been achieved by the application of those reduced cost metrics whose quality in terms of convergence and error has been analyzed and validated experimentally as comparable with respect to the Euclidean distance using a heterogeneous set of objects, scenarios and initial situations.

Assessing the Single Supervisory Mechanism: passing the point of no return for Europe's banking union. Egmont Paper No. 58, June 2013

From the Executive Summary. Europe’s financial and sovereign debt crises have become increasingly interconnected. In order to break the negative feedback loop between the two, the EU has decided to create a common supervisory framework for the banking sector: the Single Supervisory Mechanism (SSM). The SSM will involve a supervisory system including both the national supervisors and the European Central Bank (ECB). By endowing the ECB with supervisory authority over a major part of the European banking sector, the SSM’s creation will result in a shake-up of the way in which the European financial sector is being supervised. Under the right circumstances, this could be a major step forward in addressing Europe’s interconnected crises.

Norway and the Bear. Norwegian defence policy- lessons for the Baltic Sea region. OSW Point of View Number 38, January 2014

Norway is currently the only Western European state and ‘old’ NATO member that strongly relies on the traditional dimension of NATO's collective defence. It is also the only ally in Western Europe which perceives Russia as a threat to its military security, in the so-called High North. In order to successfully deal with the potential challenges and threats in the region, Norway has been pursuing a defence policy based on cooperation and deterrence. Cooperation means improving collaboration with Russia in cross-border relations, in the petroleum sector and in the military sphere. The deterrent measures include maintaining NATO’s credibility as a collective defence alliance; increasing military cooperation with the United States; building up Norway’s own military capabilities; and developing military cooperation across Northern Europe. The primary objective of Oslo’s defence policy is to minimise the likelihood of crises and conflicts emerging in the High North which could prove too ‘big’ for Norway but too ‘small’ for NATO.

In a state of necessity. How has Orban changed Hungary. OSW Point of View Number 41, April 2014

Viktor Orban’s sweeping victory in the 2010 election ensured his party, Fidesz, a constitutional two-thirds majority in parliament. The party took over the rule of the country from the discredited political left when Hungary was plunged in political and economic crisis. Claiming that the circumstances were unusual and that it had a strong electoral mandate, Fidesz introduced radical changes in the country and thus challenged the previous economic and political order. These changes have led to an unprecedented concentration of power and provoked a discussion on the limits of democracy and the rule of law in the European Union. The state’s economic role has strengthened. The Orban government has been unable to overcome economic stagnation but it has managed to stabilise Hungary’s budget situation, which needs to deal with the high debt. Hungary’s relations with most partners in the EU and NATO have cooled due to controversial moves made by its government. As regards foreign policy and economic co-operation, Orban has granted high priority to the ‘Eastern opening’, where Russia has assumed the leading role.

A weak link? Germany in the Euro-Atlantic security system. OSW Point of View Number 47, January 2015

The political, military and economic parameters of German power influence the vision of the international order that Berlin favours. Politically, Germany is a regional power in the EU with considerable diplomatic potential. Economically, it is the world's third largest power with growing global trade and investment links. At the same time, Germany's military potential is limited and the German strategic culture makes the country sceptical about the use of military instruments. Berlin is thus essentially interested in maintaining peace and stability, both in Europe and globally, and in developing diplomatic mechanisms to manage regional and global crises and conflicts. The German preference for dialogue and compromise in conflict situations in the regional and global dimensions may increasingly pose a risk to maintaining the cohesion and credibility of NATO – both from the perspective of the USA and Germany’s allies from Central-Eastern and Northern Europe.

The great leap. Turkey under Erdogan. OSW Point of View 51, 27 May 2015

Since the AKP took power in 2002, Turkey has seen a replacement of the state’s elites, a real change of the political system and a redefinition of the state identity. All this has been accompanied by economic development and rapid social transformation. The pro-democratic reforms and improved prosperity in the first decade of the AKP’s rule created the opportunity for Turkey to become part of the West in terms of legal and political standards, while maintaining its cultural distinctness. However, from the point of view of Recep Tayyip Erdogan, the leader of a new Turkey, the political reforms turned out not to be a goal per se but a means to the end of achieving a monopoly on power. Once this goal was achieved, Erdogan began leading Turkey towards the status of an autocratic state focused on the Middle East and resentful towards the West. This trend is unlikely to be reversed under Erdogan’s rule. However, even if the government were to change, there would be no return to the Turkey from before the AKP era. In turn, the Turkish public will have to answer the questions regarding its civilisational identity and the vision of the political and social order.

Point clouds of measurements in the Dechen Cave near Iserlohn, Germany

Modeling natural phenomena from 3D information enhances our understanding of the environment. Dense 3D point clouds are increasingly used as highly detailed input datasets. In addition to the capturing techniques of point clouds with LiDAR, low-cost sensors have been released in the last few years providing access to new research fields and facilitating 3D data acquisition for a broader range of applications. This letter presents an analysis of different speleothem features using 3D point clouds acquired with the gaming device Microsoft® Kinect. We compare the Kinect sensor with terrestrial LiDAR reference measurements using the KinFu pipeline for capturing complete 3D objects (< 4m**3). The results demonstrate the suitability of the Kinect to capture flowstone walls and to derive morphometric parameters of cave features. Although the chosen capturing strategy (KinFu) reveals a high correlation (R2=0.92) of stalagmite morphometry along the vertical object axis, a systematic overestimation (22% for radii and 44% for volume) is found. The comparison of flowstone wall datasets predominantly shows low differences (mean of 1 mm with 7 mm standard deviation) of the order of the Kinect depth precision. For both objects the major differences occur at strongly varying and curved surface structures (e.g. with fine concave parts).

History of West Point, and its military importance during the American revolution: and the origin and progress of the United States military academy.

"[Fac-simile] Proceedings of a board of general officers, held by order of His Excellency Gen. Washington ... respecting Major John Andrè ... September 29, 1780. Philadelphia: Printed by Francis Bailey ... M.DCC.LXXX": p. 127-147.

Uniqueness for boundary value problems for second order finite difference equations

We establish maximum principles for second order difference equations and apply them to obtain uniqueness for solutions of some boundary value problems.

A new decoupling method for quadrature coils in magnetic resonance imaging

A powerful decoupling method is introduced to obtain decoupled signal voltages from quadrature coils in magnetic resonance imaging (MRI). The new method uses the knowledge of the position of the signal source in MRI, the active slice, to define a new mutual impedance which accurately quantifies the coupling voltages and enables them to be removed almost completely. Results show that by using the new decoupling method, the percentage errors in the decoupled voltages are of the order of 10(-7)% and isolations between two coils are more than 170 dB.

The emergence of order in random walk resource discovery protocols

While others have attempted to determine, by way of mathematical formulae, optimal resource duplication strategies for random walk protocols, this paper is concerned with studying the emergent effects of dynamic resource propagation and replication. In particular, we show, via modelling and experimentation, that under any given decay (purge) rate the number of nodes that have knowledge of particular resource converges to a fixed point or a limit cycle. We also show that even for high rates of decay - that is, when few nodes have knowledge of a particular resource - the number of hops required to find that resource is small.

Customer information system data pre-processing with feature selection techniques for non-technical losses prediction in an electricity market

Non-technical losses (NTL) identification and prediction are important tasks for many utilities. Data from customer information system (CIS) can be used for NTL analysis. However, in order to accurately and efficiently perform NTL analysis, the original data from CIS need to be pre-processed before any detailed NTL analysis can be carried out. In this paper, we propose a feature selection based method for CIS data pre-processing in order to extract the most relevant information for further analysis such as clustering and classifications. By removing irrelevant and redundant features, feature selection is an essential step in data mining process in finding optimal subset of features to improve the quality of result by giving faster time processing, higher accuracy and simpler results with fewer features. Detailed feature selection analysis is presented in the paper. Both time-domain and load shape data are compared based on the accuracy, consistency and statistical dependencies between features.

A INFLUÊNCIA DAS COMPETÊNCIAS COLETIVAS SOBRE A EFICÁCIA DO ATENDIMENTO AO CLIENTE

O relacionamento de longo prazo é atualmente o elemento-chave para o sucesso das organizações. Com um mercado tão competitivo, as empresas estão desenvolvendo estratégias que melhor possam satisfazer e criar valor para seus clientes. As empresas precisam definir muito bem as suas estratégias com foco na percepção de seus clientes e do mercado. Porém a criação de valor não advém apenas da qualidade de um produto, da tecnologia e da infraestrutura. Ela também tem base em valores intrínsecos como, por exemplo, as competências. Sendo assim, as empresas precisam investir nos profissionais de linha de frente para que eles desenvolvam competências e atendam às necessidades e desejos dos clientes. Este trabalho tem o intuito de demonstrar se as competências coletivas, desenvolvidas a partir da interação social de um grupo podem trazer algum(s) benefício(s) ou não para o atendimento ao cliente em termos de satisfação e criação de valor, promovendo o marketing de relacionamento. Em seu desenvolvimento, foram utilizadas como base as teorias de competência, competências coletivas, gestão do conhecimento, satisfação e criação de valor para o cliente e marketing de relacionamento. Porém, não foi possível encontrar na literatura qualquer relação entre os temas competências coletivas e marketing de relacionamento. Neste contexto, o presente trabalho teve como objetivo geral analisar como o desenvolvimento das competências coletivas de uma equipe de vendas pode influenciar a satisfação do cliente. Especificamente buscou-se a) levantar quais os principais fatores ligados à equipe de vendas que geram satisfação nos clientes; b) analisar como as competências coletivas da equipe de vendas influenciam a satisfação do cliente; c) identificar como se formam competências coletivas em uma equipe de vendas. A partir destes objetivos, o procedimento metodológico de abordagem qualitativa foi orientado pelo método de estudo de caso, com procedimentos de análise de dados de entrevistas, observação direta e levantamento de registros. Foram entrevistadas duas equipes de vendas de uma empresa multinacional no segmento de serviços para análise e proteção de crédito, envolvendo o gerente, três vendedores e um cliente de cada equipe, atendidos por estes vendedores. As observações foram realizadas em duas reuniões de vendas envolvendo vendedores e clientes, e os registros analisados referem-se a metas e número de clientes atendidos no mês. Os resultados evidenciam que as competências coletivas podem influenciar na satisfação do cliente, embora estes só percebam as competências individuais e organizacionais. Mas ficou evidente, por parte de vendedores e gerentes de equipe, que as competências coletivas, além de promover a satisfação do cliente, auxiliam no desenvolvimento e na formação de competências individuais das pessoas na área comercial.

The impact of supply chain performance measurement systems on dynamic behaviour in supply chains

The amplification of demand variation up a supply chain widely termed ‘the Bullwhip Effect’ is disruptive, costly and something that supply chain management generally seeks to minimise. Originally attributed to poor system design; deficiencies in policies, organisation structure and delays in material and information flow all lead to sub-optimal reorder point calculation. It has since been attributed to exogenous random factors such as: uncertainties in demand, supply and distribution lead time but these causes are not exclusive as academic and operational studies since have shown that orders and/or inventories can exhibit significant variability even if customer demand and lead time are deterministic. This increase in the range of possible causes of dynamic behaviour indicates that our understanding of the phenomenon is far from complete. One possible, yet previously unexplored, factor that may influence dynamic behaviour in supply chains is the application and operation of supply chain performance measures. Organisations monitoring and responding to their adopted key performance metrics will make operational changes and this action may influence the level of dynamics within the supply chain, possibly degrading the performance of the very system they were intended to measure. In order to explore this a plausible abstraction of the operational responses to the Supply Chain Council’s SCOR® (Supply Chain Operations Reference) model was incorporated into a classic Beer Game distribution representation, using the dynamic discrete event simulation software Simul8. During the simulation the five SCOR Supply Chain Performance Attributes: Reliability, Responsiveness, Flexibility, Cost and Utilisation were continuously monitored and compared to established targets. Operational adjustments to the; reorder point, transportation modes and production capacity (where appropriate) for three independent supply chain roles were made and the degree of dynamic behaviour in the Supply Chain measured, using the ratio of the standard deviation of upstream demand relative to the standard deviation of the downstream demand. Factors employed to build the detailed model include: variable retail demand, order transmission, transportation delays, production delays, capacity constraints demand multipliers and demand averaging periods. Five dimensions of supply chain performance were monitored independently in three autonomous supply chain roles and operational settings adjusted accordingly. Uniqueness of this research stems from the application of the five SCOR performance attributes with modelled operational responses in a dynamic discrete event simulation model. This project makes its primary contribution to knowledge by measuring the impact, on supply chain dynamics, of applying a representative performance measurement system.

Word order in Yiddish narrative discourse

Based on data from spoken narrative discourse in Yiddish, this paper analyses two structures common in Yiddish narrations: The placement of the finite verb in the first position of a declarative sentence, and topicalization.Like German, Yiddish word order is generally centered around a verb-second rule. However, both Yiddish and spoken German show configurations of word order that go against the rule, where the finite verb occupies the first position of the utterance. From a functional-pragmatic point of view, these structures can be said to serve special purposes in the interaction between speaker and listener, sometimes in particular discourse types.Differences and similarities in word order between Yiddish and German enable us to comment on the relationship between these two closely related languages.