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.

EU Law, International Law and Economic Sanctions against Terrorism: The Judiciary in Distress? Research Papers in Law, 3/2008

From the Introduction. This article seeks to examine the relationship between European Union law, international law, and the protection of fundamental rights in the light of recent case law of the European Court of Justice (ECJ) and the Court of First Instance (CFI) relating to economic sanctions against individuals. On 3 September 2008, the ECJ delivered its long-awaited judgment in Kadi and Al Barakaat on appeal from the CFI.3 In its judgment under appeal,4 the CFI had held that the European Community (EC) is competent to adopt regulations imposing economic sanctions against private organisations in pursuance of UN Security Council (UNSC) Resolutions seeking to combat terrorism; that although the EC is not bound directly by the UN Charter, it is bound pursuant to the EC Treaty to respect international law and give effect to UNSC; and that the CFI has jurisdiction to examine the compatibility of EC regulations implementing UNSC resolutions with fundamental rights not as protected by the EC but as protected by jus cogens. On appeal, following the Opinion of Maduro AG, the ECJ rejected the CFI’s approach. It held that UNSC resolutions are binding only in international law. It subjected the contested regulations to full review under EC human rights standards and found them in breach of the right to a hearing, the right to judicial protection and the right to property. Kadi and Al Barakaat is the most important judgment ever delivered by the ECJ on the relationship between EC and international law and one of its most important judgments on fundamental rights. It is imbued by constitutional confidence, commitment to the rule of law but also some scepticism towards international law. In the meantime, the CFI has delivered a number of other judgments on anti-terrorist sanctions assessing the limits of the “emergency constitution” at European level. The purpose of this paper is to examine the above case law and explore the dilemmas and tensions facing the EU judiciary in seeking to define and protect the EU’s distinct constitutional space. It is divided as follows. It first looks at the judgment in Kadi. After a short presentation of the factual and legal background, it explores the question whether the EU has competence to adopt smart sanctions. It then examines whether the EU is bound by resolutions of the Security Council, whether the ECJ has jurisdiction to review Community measures implementing such resolutions and the applicable standard of judicial scrutiny. It analyses the contrasting views of the CFI, the Advocate General, and the ECJ taking account also of the case law of the European Court of Human Rights (ECtHR). Further, it explores the consequences of annulling the contested regulation. It then turns to discussing CFI case law in relation to sanctions lists drawn up not by the UN Security Council but by the EC. The paper concludes by welcoming the judgment of the ECJ. Whilst its reasoning on the issue of Community competence is questionable, once such competence is established, it is difficult to support the abrogation of Community standards for the protection of fundamental rights. Such standards should ensure procedural due process whilst recognising the importance of public security.

A Contribution to The Study of Global Competition for Talent: the determinants of student mobility and its consequences for the internationalization of the labor market. Bruges European Economic Policy (BEEP) Briefing 27/2013

In a globalized economy the skills of the workforce are a key determinant of the competitiveness of a country. One of the goals of Higher Education is precisely to develop the students’ skills in order to allow them to match the increasing demand for highly qualified workers while it is simultaneously the best period of life to acquire multicultural skills. For this reason, the European Union has fostered student mobility through several programs: the Erasmus program and the Bologna process are the best known among them. Although student mobility is a growing phenomenon, publications and research on the subject remain relatively scarce. This paper aims to contribute to that literature through an empirical analysis which exploits a questionnaire submitted to university alumni and focuses on two research questions: what drives studies abroad and what drives expatriation of graduates. Our empirical analysis first shows that exposure to international experiences before entering tertiary education and family background are the main factors influencing student mobility. A second conclusion is that studying abroad increases the international mobility on the labor market. Both confirm previous studies. Moreover, by making a distinction between participating in the Erasmus program and in other exchange programs or internships abroad, we found that the Erasmus program and the other programs or internships have an equivalent influence on the international mobility on the labor market: they increase by 9 to 12.5 percentage points a student’s chance to be mobile on the international labor market. This result shows the legitimacy of the Erasmus program, but it also reveals the important impact of other forms of experience abroad. It provides support for policy makers to encourage mobility programs, in order to foster integration of the European labor market.

International Conference on Safety and Innovation in Food Packaging (InSIPack) 2016: book of abstracts

The aim of the conference is to bring together academia and industry to discuss the safety of food packaging as well as the development of new food packaging materials, including active, intelligent and nano concepts. Bio-based materials will be also discussed due to be a growing area of food packaging. Topics: Food Safety & Quality (Physical and chemical hazards: measurement and assessment; Biological hazards: risk and prevention; Mathematical modelling of risk assessment; Evaluation of food spoilage, food quality and shelf life; Food packaging laws and regulations; Food package interactions: migration measurement methods, models and food safety risk assessment; Food Packaging innovation (Active and intelligent packaging; Nano-packaging; New packaging materials and material development; Bio based and edible packaging; Food package testing; Sustainable food contact materials; Recycling and Life Cycle Assessment).

Spill o Libre de les dones per Mestre Jacme Roig : Edicio̲n cri̲tica con las variantes de todas las publicadas y las del ms. de la Vaticana, pro̲logo, estudios y comentarios por Roque Chaba̲s.

Title of earlier editions varies: 1st and 2d ed., 1531 and 1561, 'Libre de consells"; 3d ed., 1561, "Libre de les dones, mes verament dit de consells," etc.

Report.

Called Board of highway commissioners, 1895-97. 1st and 2d pub. together only; 3d and 4th, together only. Cf. Bowker, State publications, pt.1, p. 77.

Memoirs of the American Academy of Arts and Sciences.

Imprint varies: v. 1-v. 2, pt. 1, Boston, 1785-1793; v. 2, pt. 2, Charlestown, 1804; v. 3-new ser., v. 2, Cambridge, 1809-1846; new ser., v. 3-9, pt. 1, v. 10, pt. 1, Cambridge and Boston, 1848-1868; new ser., v. 9, pt. 2, v. 10, pt. 2- Cambridge, 1873-

Proceedings of the California Academy of Sciences.

"Catalogue of the Library to January 1, 1889," 91 p., appended to 2d ser., v. 1; "Additions" in 2d ser., v. 2-3.

Transactions of the ... annual meeting of the South Carolina Bar Association.

Includes list of members and constitution and by-laws.

Annual report.

The 76th report, submitted Sept. 25, 1911, includes "The Providence Athenaeum 1753-1911," an article by J. L. Harrison reprinted from the New England magazine of Sept. and Oct. 1911.

Visits to remarkable places; old halls, battlefields and scenes illustrative of striking passages in history and poetry.

Published as 1st and 2d series, respectively; prefaces dated 1839 and 1841.

Leaves from a journal; or, Sketches of rambles in some parts of North Britain and Ireland.

The 1st, 3d and 6th sketches appeared in the Analectic magazine and the Philadelphia literary gazette. cf. Pref.

Œuvres complètes de Ch. Fourier ...

"'La théorie de l'unité universelle' a paru primitivement sous le titre de 'Traité de l'association domestique-agricole, ou Attraction industrielle'."

Imaginary conversations of literary men and statesmen /

First edition. Forms 1st and 2d vols. of the 5-vol. Imaginary conversations published between 1824 and 1829. cf. T. J. Wise and Stephen Wheeler. A bibliography of the writings in prose and verse of Walter Savage Landor.