Sensor Planning for Bayesian Nonparametric Target Modeling

Bayesian nonparametric models, such as the Gaussian process and the Dirichlet process, have been extensively applied for target kinematics modeling in various applications including environmental monitoring, traffic planning, endangered species tracking, dynamic scene analysis, autonomous robot navigation, and human motion modeling. As shown by these successful applications, Bayesian nonparametric models are able to adjust their complexities adaptively from data as necessary, and are resistant to overfitting or underfitting. However, most existing works assume that the sensor measurements used to learn the Bayesian nonparametric target kinematics models are obtained a priori or that the target kinematics can be measured by the sensor at any given time throughout the task. Little work has been done for controlling the sensor with bounded field of view to obtain measurements of mobile targets that are most informative for reducing the uncertainty of the Bayesian nonparametric models. To present the systematic sensor planning approach to leaning Bayesian nonparametric models, the Gaussian process target kinematics model is introduced at first, which is capable of describing time-invariant spatial phenomena, such as ocean currents, temperature distributions and wind velocity fields. The Dirichlet process-Gaussian process target kinematics model is subsequently discussed for modeling mixture of mobile targets, such as pedestrian motion patterns.

Novel information theoretic functions are developed for these introduced Bayesian nonparametric target kinematics models to represent the expected utility of measurements as a function of sensor control inputs and random environmental variables. A Gaussian process expected Kullback Leibler divergence is developed as the expectation of the KL divergence between the current (prior) and posterior Gaussian process target kinematics models with respect to the future measurements. Then, this approach is extended to develop a new information value function that can be used to estimate target kinematics described by a Dirichlet process-Gaussian process mixture model. A theorem is proposed that shows the novel information theoretic functions are bounded. Based on this theorem, efficient estimators of the new information theoretic functions are designed, which are proved to be unbiased with the variance of the resultant approximation error decreasing linearly as the number of samples increases. Computational complexities for optimizing the novel information theoretic functions under sensor dynamics constraints are studied, and are proved to be NP-hard. A cumulative lower bound is then proposed to reduce the computational complexity to polynomial time.

Three sensor planning algorithms are developed according to the assumptions on the target kinematics and the sensor dynamics. For problems where the control space of the sensor is discrete, a greedy algorithm is proposed. The efficiency of the greedy algorithm is demonstrated by a numerical experiment with data of ocean currents obtained by moored buoys. A sweep line algorithm is developed for applications where the sensor control space is continuous and unconstrained. Synthetic simulations as well as physical experiments with ground robots and a surveillance camera are conducted to evaluate the performance of the sweep line algorithm. Moreover, a lexicographic algorithm is designed based on the cumulative lower bound of the novel information theoretic functions, for the scenario where the sensor dynamics are constrained. Numerical experiments with real data collected from indoor pedestrians by a commercial pan-tilt camera are performed to examine the lexicographic algorithm. Results from both the numerical simulations and the physical experiments show that the three sensor planning algorithms proposed in this dissertation based on the novel information theoretic functions are superior at learning the target kinematics with

little or no prior knowledge

(Table 1) Types of giant magnetofossils in ODP holes

Magnetotactic bacteria biomineralize magnetic minerals with precisely controlled size, morphology, and stoichiometry. These cosmopolitan bacteria are widely observed in aquatic environments. If preserved after burial, the inorganic remains of magnetotactic bacteria act as magnetofossils that record ancient geomagnetic field variations. They also have potential to provide paleoenvironmental information. In contrast to conventional magnetofossils, giant magnetofossils (most likely produced by eukaryotic organisms) have only been reported once before from Paleocene-Eocene Thermal Maximum (PETM; 55.8 Ma) sediments on the New Jersey coastal plain. Here, using transmission electron microscopic observations, we present evidence for abundant giant magnetofossils, including previously reported elongated prisms and spindles, and new giant bullet-shaped magnetite crystals, in the Southern Ocean near Antarctica, not only during the PETM, but also shortly before and after the PETM. Moreover, we have discovered giant bullet-shaped magnetite crystals from the equatorial Indian Ocean during the Mid-Eocene Climatic Optimum (~40 Ma). Our results indicate a more widespread geographic, environmental, and temporal distribution of giant magnetofossils in the geological record with a link to "hyperthermal" events. Enhanced global weathering during hyperthermals, and expanded suboxic diagenetic environments, probably provided more bioavailable iron that enabled biomineralization of giant magnetofossils. Our micromagnetic modelling indicates the presence of magnetic multi-domain (i.e., not ideal for navigation) and single domain (i.e., ideal for navigation) structures in the giant magnetite particles depending on their size, morphology and spatial arrangement. Different giant magnetite crystal morphologies appear to have had different biological functions, including magnetotaxis and other non-navigational purposes. Our observations suggest that hyperthermals provided ideal conditions for giant magnetofossils, and that these organisms were globally distributed. Much more work is needed to understand the interplay between magnetofossil morphology, climate, nutrient availability, and environmental variability.

Drought index from tree-rings in Kongton Mountains, China

The Kongtong Mountain area is a marginal area of the Asian summer monsoon and is sensitive to monsoon dynamics. The sensitivity highlights the need to establishing long-term climate records there and evaluating links with the Asian monsoon. Using "signal-free" methods, we developed a tree-ring chronology based 52 ring-width series from 23 Pinus tabulaeformis and Pinus armandidi trees in the Kongtong Mountain, northern China. Tree growth is highly correlated (0.844) with the Palmer Drought Severity Index (PDSI) from May to July, demonstrating the strength of PDSI in modeling drought conditions in this region. We therefore developed a robust May-July PDSI reconstruction spanning 1615-2009, which explained 71.2% of the instrumental variance for the period 1951-2005. Extremely dry epochs are found in periods of 1723-1727 and 1928-1932, and significant wet conditions are seen from 1696-1700, 1753-1757 and 1963-1969. These persistent dry and wet epochs were also found in northeastern Mongolia, suggesting similar drought regimes between these two regions. The dryness that occurred in the 1920s-1930s was the most severe and was concurrent with a warming period. This warming/drying relationship of the 1920s-1930s may be an analog to the current drying trend in northern China.

El periodismo deportivo condicionado por la gestión comunicativa de los clubes de fútbol: el caso del FC Barcelona

Las relaciones entre los gabinetes de Comunicación de los clubes de fútbol y los periodistas deportivos se enmarcan en el modelo de Gieber y Johnson (1961) por el que el hecho de que ambos compartan objetivos comunes, donde los gabinetes de Comunicación necesitan que los medios publiquen determinadas informaciones y los periodistas precisan de noticias que publicar, provoca una pérdida de independencia por parte de los periodistas, ya que necesitan a esos departamentos como fuentes. En la actualidad, los departamentos de Comunicación de los clubes de fútbol, como el del FC Barcelona, se han constituido en gatekeepers. Esto ha acentuado las históricas diferencias que existen entre los periodistas y los profesionales de la comunicación corporativa, incrementado por el control informativo de estos departamentos lo que provoca constantes tensiones entre ambos.

Auditoría integrada de Información + Conocimiento: aplicación en un caso de estudio

Se presentan los resultados de la aplicación de una metodología integradora de auditoría de información y conocimiento, llevada a cabo en un Centro de Investigación del Ministerio de Ciencia, Tecnología y Medio Ambiente de la provincia de Holguín, Cuba, conformada por siete etapas con un enfoque híbrido dirigida a revisar la estrategia y la política de gestión de información y conocimiento, identificar e inventariar y mapear los recursos de I+C y sus flujos, y valorar los procesos asociados a su gestión. La alta dirección de este centro, sus especialistas e investigadores manifestaron la efectividad de la metodología aplicada cuyos resultados propiciaron reajustar la proyección estratégica en relación con la gestión de la I+C, rediseñar los flujos informativos de los procesos claves, disponer de un directorio de sus expertos por áreas y planificar el futuro aprendizaje y desarrollo profesional.

Turismo rural y paisaje en zonas de montaña. Propuesta metodológica para identificar sus relaciones en las Sierras Meridionales de la Provincia de Albacete

Las zonas de montaña cuentan con especificidades geográficas y socioeconómicas. En ellas, a partir del patrimonio territorial natural y cultural, se ha producido un considerable impulso del turismo rural, que ha centrado el interés en la valoración de la singularidad y variedad de los paisajes. En este caso se presta atención a las sierras meridionales de la provincia de Albacete. El trabajo se apoya en una metodología que combina el uso de encuestas de preferencias de turistas y técnicas cartográficas a partir de algunas variables del sistema turístico en el medio rural. El trabajo se inserta dentro de los paradigmas del desarrollo local y el desarrollo sostenible, aplicado a los espacios rurales y a las zonas de montaña media del sureste de Castilla-La Mancha. La hipótesis se centra en la consideración del paisaje como elemento medular del turismo rural.

Uma proposta de slam com determinação de informações geométricas do ambiente

PEDROSA, Diogo P. F. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. . Uma Proposta de SLAM com Determinação de Informações Geométricas do Ambiente. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 16, Salvador, BA, 2006. Anais... Salvador: CBA, 2006. v. 1. p. 1704-1709

Automated Collection of Sign Inventory Information by Integrating Global Positioning System (GPS) with Videologging Data Collection Activities, 1995

Advances in communication, navigation and imaging technologies are expected to fundamentally change methods currently used to collect data. Electronic data interchange strategies will also minimize data handling and automatically update files at the point of capture. This report summarizes the outcome of using a multi-camera platform as a method to collect roadway inventory data. It defines basic system requirements as expressed by users, who applied these techniques and examines how the application of the technology met those needs. A sign inventory case study was used to determine the advantages of creating and maintaining the database and provides the capability to monitor performance criteria for a Safety Management System. The project identified at least 75 percent of the data elements needed for a sign inventory can be gathered by viewing a high resolution image.

L'Union européenne, un nouvel acteur arctique? Stratégie, intérêts et défis émergents

Au cours des dernières décennies, la région de l’Arctique s’est vue propulsée au cœur de nombreuses analyses et controverses scientifiques, médiatiques et politiques. Avec la fonte des glaces, de nouvelles perspectives économiques et maritimes voient le jour, principalement en matière de navigation et d’exploitation des ressources naturelles, amenant les États riverains, ainsi que de nombreux autres pays du globe, à en faire une priorité en matière de politique internationale. L’intérêt de la communauté internationale s’est concrétisé principalement à partir des années 1990 – notamment avec la création du Conseil de l’Arctique en 1996 dont font partie la Russie, le Canada, les États-Unis, l’Islande, la Norvège, ainsi que certains États européens tels que la Suède, la Finlande et le Danemark. Cependant, l’Union européenne n’a manifesté une position plus proactive qu’à partir de 2008. En quelques années, Bruxelles s’est énormément mobilisée pour s’informer davantage sur la région et on a vu croître de manière considérable le nombre de rencontres, de conférences, de partages des connaissances sur les sujets arctiques. La publication d’une première communication de la Commission européenne sur la région arctique officialisa cette position plus déterminée de l’Union envers les enjeux arctiques. Cette recherche vise à étudier l’évolution et l’élaboration d’une politique européenne arctique, ainsi que les raisons et intérêts qui sous-tendent celle-ci. Il sera également question de se pencher sur les principaux obstacles rencontrés par l’Union dans ce processus et analyser les relations qu’elle entretient avec les différents États arctiques. Enfin, une mise au point de la situation actuelle sera faite afin de comprendre les divers défis et opportunités qu’elle peut rencontrer dans ce nouveau rôle d’acteur arctique.

Les paysages sous-marins du Québec : le cas de la découverte, de la mise en valeur et de la reconnaissance du jardin des Escoumins

Cette recherche exploratoire examine le concept émergent de « paysage sous-marin » présenté sous la forme d’une étude cas — celui du jardin des Escoumins — situé dans le parc marin du Saguenay – Saint-Laurent, au Québec. On constate, depuis les dernières décennies, deux complications qui s’interposent au concept de paysage sous-marin puisque d’une part on examine un divorce entre les Québécois et le fleuve Saint-Laurent puis d’une autre on observe l’omission fréquente de sa reconnaissance dans la littérature géographique. En somme, deux questions de recherche en découlent, soit : Quels sont les procédés employés pendant le XXe et XXIe siècle dans la construction des paysages sous-marins au Québec ? et : Quel est le rôle des différents acteurs, et plus précisément celui des plongeurs, dans la mise en valeur et la reconnaissance du paysage sous-marin des Escoumins ? La recherche a été accomplie à travers une revue extensive de la littérature régionale et mondiale portant sur ce concept atypique. Par la suite, une enquête de 35 questions soumises à un échantillon de 73 plongeurs québécois a été analysée, ainsi que sept entrevues semi-dirigées avec des acteurs clefs du domaine. Puis, l’étude et la cartographie des relations spatiales entre les plongeurs et les lieux de prédilection de leur activité ont été réalisés. Les résultats démontrent des interrelations complexes entre les caractéristiques de construction de ces paysages sublimes (le territoire, la nordicité, la pratique d’une activité de loisir, la technologie, l’esthétisme ainsi que l’essor économique et touristique) et les acteurs clefs. Comme la « découverte » des paysages alpins au XVIIIe siècle en Europe, la lente mise en valeur des paysages sous-marins au Québec est causée par la marginalité des lieux. Ainsi, la reconnaissance des paysages subaquatiques est en pleine effervescence au Québec et l’intégration de ce concept en aménagement et en planification touristiques devient capitale.

Uma proposta de slam com determinação de informações geométricas do ambiente

PEDROSA, Diogo P. F. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. . Uma Proposta de SLAM com Determinação de Informações Geométricas do Ambiente. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 16, Salvador, BA, 2006. Anais... Salvador: CBA, 2006. v. 1. p. 1704-1709

Mapeamento acústico como ferramenta para predição de ruído urbano na área de influência do estádio Arena das Dunas, Natal/ RN

The Noise Pollution causes degradation in the quality of the environment and presents itself as one of the most common environmental problems in the big cities. An Urban environment present scenario and their complex acoustic study need to consider the contribution of various noise sources. Accordingly to computational models through mapping and prediction of acoustic scene become important, because they enable the realization of calculations, analyzes and reports, allowing the interpretation of satisfactory results. The study neighborhood is the neighborhood of Lagoa Nova, a central area of the city of Natal, which will undergo major changes in urban space due to urban mobility projects planned for the area around the stadium and the consequent changes of urban form and traffic. Thus, this study aims to evaluate the noise impact caused by road and morphological changes around the stadium Arena das Dunas in the neighborhood of Lagoa Nova, through on-site measurements and mapping using the computational model SoundPLAN year 2012 and the scenario evolution acoustic for the year 2017. For this analysis was the construction of the first acoustic mapping based on current diagnostic acoustic neighborhood, physical mapping, classified vehicle count and measurement of sound pressure level, and to build the prediction of noise were observed for the area study the modifications provided for traffic, urban form and mobility work. In this study, it is concluded that the sound pressure levels of the year in 2012 and 2017 extrapolate current legislation. For the prediction of noise were numerous changes in the acoustic scene, in which the works of urban mobility provided will improve traffic flow, thus reduce the sound pressure level where interventions are expected

Urgent capsule endoscopy is useful in severe obscure-overt gastrointestinal bleeding

AIM: With capsule endoscopy (CE) it is possible to examine the entire small bowel. The present study assessed the diagnostic yield of CE in severe obscure-overt gastrointestinal bleeding (OOGIB). METHODS: During a 3-year period, 15 capsule examinations (4.5% of all CE in a single institution) were carried out in 15 patients (11 men; mean age 69.9 +/- 20.1 years) with severe ongoing bleeding, defined as persistent melena and/or hematochezia, with hemodynamic instability and the need for significant red blood cell transfusion. CE was carried out after non-diagnostic standard upper and lower endoscopy. The mean time from admission until CE was 4.1 +/- 4.4 days (0-15 days). RESULTS: CE revealed active bleeding in seven patients and signs of recent bleeding in four. Etiology of bleeding was correctly diagnosed in 11 patients (73.3%) (portal hypertension enteropathy, three patients; subepithelial ulcerated lesion, two patients; angiodysplasia, two patients; jejunal ulcer with visible vessel, one patient; multiple small bowel ulcers, one patient; jejunal tumor, one patient; jejunal mucosa irregularity with adherent clot, one patient). One patient (6.7%) had active bleeding but no visible lesion. As a consequence of the capsule findings, specific therapeutic measures were undertaken in 11 patients (73.3%) with five managed conservatively, four endoscopically and two surgically. Two patients experienced bleeding recurrence. One of them, with a probable small bowel tumor, refused any other interventions. CONCLUSIONS: CE is useful in patients with severe OOGIB by providing positive findings in the majority of patients, with subsequent impact on therapeutic procedures.

Utilising presence in places to support mobile interaction

Physical places are given contextual meaning by the objects and people that make up the space. Presence in physical places can be utilised to support mobile interaction by making access to media and notifications on a smartphone easier and more visible to other people. Smartphone interfaces can be extended into the physical world in a meaningful way by anchoring digital content to artefacts, and interactions situated around physical artefacts can provide contextual meaning to private manipulations with a mobile device. Additionally, places themselves are designed to support a set of tasks, and the logical structure of places can be used to organise content on the smartphone. Menus that adapt the functionality of a smartphone can support the user by presenting the tools most likely to be needed just-in-time, so that information needs can be satisfied quickly and with little cognitive effort. Furthermore, places are often shared with people whom the user knows, and the smartphone can facilitate social situations by providing access to content that stimulates conversation. However, the smartphone can disrupt a collaborative environment, by alerting the user with unimportant notifications, or sucking the user in to the digital world with attractive content that is only shown on a private screen. Sharing smartphone content on a situated display creates an inclusive and unobtrusive user experience, and can increase focus on a primary task by allowing content to be read at a glance. Mobile interaction situated around artefacts of personal places is investigated as a way to support users to access content from their smartphone while managing their physical presence. A menu that adapts to personal places is evaluated to reduce the time and effort of app navigation, and coordinating smartphone content on a situated display is found to support social engagement and the negotiation of notifications. Improving the sensing of smartphone users in places is a challenge that is out-with the scope of this thesis. Instead, interaction designers and developers should be provided with low-cost positioning tools that utilise presence in places, and enable quantitative and qualitative data to be collected in user evaluations. Two lightweight positioning tools are developed with the low-cost sensors that are currently available: The Microsoft Kinect depth sensor allows movements of a smartphone user to be tracked in a limited area of a place, and Bluetooth beacons enable the larger context of a place to be detected. Positioning experiments with each sensor are performed to highlight the capabilities and limitations of current sensing techniques for designing interactions with a smartphone. Both tools enable prototypes to be built with a rapid prototyping approach, and mobile interactions can be tested with more advanced sensing techniques as they become available. Sensing technologies are becoming pervasive, and it will soon be possible to perform reliable place detection in-the-wild. Novel interactions that utilise presence in places can support smartphone users by making access to useful functionality easy and more visible to the people who matter most in everyday life.

Introducing the National Library for Health Skin Conditions Specialist Library

Background: This paper introduces the new National Library for Health Skin Conditions Specialist Library http://www.library.nhs.uk/skin. Description: The aims, scope and audience of the new NLH Skin Conditions Specialist Library, and the composition and functions of its core Project Team, Editorial Team and Stakeholders Group are described. The Library's collection building strategy, resource and information types, editorial policies, quality checklist, taxonomy for content indexing, organisation and navigation, and user interface are all presented in detail. The paper also explores the expected impact and utility of the new Library, as well as some possible future directions for further development. Conclusion: The Skin Conditions Specialist Library is not just another new Web site that dermatologists might want to add to their Internet favourites then forget about it. It is intended to be a practical, "one-stop shop" dermatology information service for everyday practical use, offering high quality, up-to-date resources, and adopting robust evidence-based and knowledge management approaches.