Rao-Blackwellised particle filter for colour-based tracking

Colour-based particle filters have been used exhaustively in the literature given rise to multiple applications However tracking coloured objects through time has an important drawback since the way in which the camera perceives the colour of the object can change Simple updates are often used to address this problem which imply a risk of distorting the model and losing the target In this paper a joint image characteristic-space tracking is proposed which updates the model simultaneously to the object location In order to avoid the curse of dimensionality a Rao-Blackwellised particle filter has been used Using this technique the hypotheses are evaluated depending on the difference between the model and the current target appearance during the updating stage Convincing results have been obtained in sequences under both sudden and gradual illumination condition changes Crown Copyright (C) 2010 Published by Elsevier B V All rights reserved

Tracking Human Position and Lower Body Parts Using Kalman and Particle Filters Constrained by Human Biomechanics

In this paper, a novel framework for visual tracking of human body parts is introduced. The approach presented demonstrates the feasibility of recovering human poses with data from a single uncalibrated camera by using a limb-tracking system based on a 2-D articulated model and a double-tracking strategy. Its key contribution is that the 2-D model is only constrained by biomechanical knowledge about human bipedal motion, instead of relying on constraints that are linked to a specific activity or camera view. These characteristics make our approach suitable for real visual surveillance applications. Experiments on a set of indoor and outdoor sequences demonstrate the effectiveness of our method on tracking human lower body parts. Moreover, a detail comparison with current tracking methods is presented.

Mean field approach for tracking similar objects

In this paper, we consider the problem of tracking similar objects. We show how a mean field approach can be used to deal with interacting targets and we compare it with Markov Chain Monte Carlo (MCMC). Two mean field implementations are presented. The first one is more general and uses particle filtering. We discuss some simplifications of the base algorithm that reduce the computation time. The second one is based on suitable Gaussian approximations of probability densities that lead to a set of self-consistent equations for the means and covariances. These equations give the Kalman solution if there is no interaction. Experiments have been performed on two kinds of sequences. The first kind is composed of a single long sequence of twenty roaming ants and was previously analysed using MCMC. In this case, our mean field algorithms obtain substantially better results. The second kind corresponds to selected sequences of a football match in which the interaction avoids tracker coalescence in situations where independent trackers fail.

Evaluating the impact of network density, hidden nodes and capture effect for throughput guarantee in multi-hop wireless networks

To optimize the performance of wireless networks, one needs to consider the impact of key factors such as interference from hidden nodes, the capture effect, the network density and network conditions (saturated versus non-saturated). In this research, our goal is to quantify the impact of these factors and to propose effective mechanisms and algorithms for throughput guarantees in multi-hop wireless networks. For this purpose, we have developed a model that takes into account all these key factors, based on which an admission control algorithm and an end-to-end available bandwidth estimation algorithm are proposed. Given the necessary network information and traffic demands as inputs, these algorithms are able to provide predictive control via an iterative approach. Evaluations using analytical comparison with simulations as well as existing research show that the proposed model and algorithms are accurate and effective.

Evaluation of Four Designed Virtual Agent Personalities

Convincing conversational agents require a coherent set of behavioral responses that can be interpreted by a human observer as indicative of a personality. This paper discusses the continued development and subsequent evaluation of virtual agents based on sound psychological principles. We use Eysenck's theoretical basis to explain aspects of the characterization of our agents, and we describe an architecture where personality affects the agent's global behavior quality as well as their back-channel productions. Drawing on psychological research, we evaluate perception of our agents' personalities and credibility by human viewers (N = 187). Our results suggest that we succeeded in validating theoretically grounded indicators of personality in our virtual agents, and that it is feasible to place our characters on Eysenck's scales. A key finding is that the presence of behavioral characteristics reinforces the prescribed personality profiles that are already emerging from the still images. Our long-term goal is to enhance agents' ability to sustain realistic interaction with human users, and we discuss how this preliminary work may be further developed to include more systematic variation of Eysenck's personality scales. © 2012 IEEE.


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Four new exotic red seaweeds on European shores

We report the occurrence of four red macroalgae new to Europe. Two species were unambiguously determined to the species level with a DNA barcoding approach, while the remaining two species could only be assigned to a genus. Gelidium vagum was found in the Oosterschelde estuary (the Netherlands). Gracilariopsis chorda, Chondracanthus sp. and Solieria sp. were found in the Gulf of Morbihan in Brittany (France); Solieria sp. was also subsequently observed in the Thau Lagoon (France). Gelidium vagum and Gracilariopsis chorda are species originating from the north-western Pacific, around the Japanese archipelago. Phylogenetic analyses also show a likely Pacific origin for Chondracanthus sp. and Solieria sp. Three of these species are likely to have been introduced after 2008, indicating some active transport pathways between the Pacific and the north-eastern Atlantic. These findings also underline the importance of consistent and continuous local expertise (versus rapid assessment) in early warning systems.

A Review on Improving the Autonomy of Unmanned Surface Vehicles through Intelligent Collision Avoidance Manoeuvres

In recent years unmanned vehicles have grown in popularity, with an ever increasing number of applications in industry, the military and research within air, ground and marine domains. In particular, the challenges posed by unmanned marine vehicles in order to increase the level of autonomy include automatic obstacle avoidance and conformance with the Rules of the Road when navigating in the presence of other maritime traffic. The USV Master Plan which has been established for the US Navy outlines a list of objectives for improving autonomy in order to increase mission diversity and reduce the amount of supervisory intervention. This paper addresses the specific development needs based on notable research carried out to date, primarily with regard to navigation, guidance, control and motion planning. The integration of the International Regulations for Avoiding Collisions at Sea within the obstacle avoidance protocols seeks to prevent maritime accidents attributed to human error. The addition of these critical safety measures may be key to a future growth in demand for USVs, as they serve to pave the way for establishing legal policies for unmanned vessels.

Relevance and truthfulness in information correction and fusion

A general approach to information correction and fusion for belief functions is proposed, where not only may the information items be irrelevant, but sources may lie as well. We introduce a new correction scheme, which takes into account uncertain metaknowledge on the source’s relevance and truthfulness and that generalizes Shafer’s discounting operation. We then show how to reinterpret all connectives of Boolean logic in terms of source behavior assumptions with respect to relevance and truthfulness. We are led to generalize the unnormalized Dempster’s rule to all Boolean connectives, while taking into account the uncertainties pertaining to assumptions concerning the behavior of sources. Eventually, we further extend this approach to an even more general setting, where source behavior assumptions do not have to be restricted to relevance and truthfulness.We also establish the commutativity property between correction and fusion processes, when the behaviors of the sources are independent.

Connective tissue growth factor/CCN2 stimulates actin disassembly through Akt/protein kinase B-mediated phosphorylation and cytoplasmic translocation of p27(Kip-1)

Connective tissue growth factor (CTGF/CCN2) is a 38-kDa secreted protein, a prototypic member of the CCN family, which is up-regulated in many diseases, including atherosclerosis, pulmonary fibrosis, and diabetic nephropathy. We previously showed that CTGF can cause actin disassembly with concurrent down-regulation of the small GTPase Rho A and proposed an integrated signaling network connecting focal adhesion dissolution and actin disassembly with cell polarization and migration. Here, we further delineate the role of CTGF in cell migration and actin disassembly in human mesangial cells, a primary target in the development of renal glomerulosclerosis. The functional response of mesangial cells to treatment with CTGF was associated with the phosphorylation of Akt/protein kinase B (PKB) and resultant phosphorylation of a number of Akt/PKB substrates. Two of these substrates were identified as FKHR and p27(Kip-1). CTGF stimulated the phosphorylation and cytoplasmic translocation of p27(Kip-1) on serine 10. Addition of the PI-3 kinase inhibitor LY294002 abrogated this response; moreover, addition of the Akt/PKB inhibitor interleukin (IL)-6-hydroxymethyl-chiro-inositol-2(R)-2-methyl-3-O-octadecylcarbonate prevented p27(Kip-1) phosphorylation in response to CTGF. Immunocytochemistry revealed that serine 10 phosphorylated p27(Kip-1) colocalized with the ends of actin filaments in cells treated with CTGF. Further investigation of other Akt/PKB sites on p27(Kip-1), revealed that phosphorylation on threonine 157 was necessary for CTGF mediated p27(Kip-1) cytoplasmic localization; mutation of the threonine 157 site prevented cytoplasmic localization, protected against actin disassembly and inhibited cell migration. CTGF also stimulated an increased association between Rho A and p27(Kip-1). Interestingly, this resulted in an increase in phosphorylation of LIM kinase and subsequent phosphorylation of cofilin, suggesting that CTGF mediated p27(Kip-1) activation results in uncoupling of the Rho A/LIM kinase/cofilin pathway. Confirming the central role of Akt/PKB, CTGF-stimulated actin depolymerization only in wild-type mouse embryonic fibroblasts (MEFs) compared to Akt-1/3 (PKB alpha/gamma) knockout MEFs. These data reveal important mechanistic insights into how CTGF may contribute to mesangial cell dysfunction in the diabetic milieu and sheds new light on the proposed role of p27(Kip-1) as a mediator of actin rearrangement.

A sequential algorithm for sparse support vector classifiers

Support vector machines (SVMs), though accurate, are not preferred in applications requiring high classification speed or when deployed in systems of limited computational resources, due to the large number of support vectors involved in the model. To overcome this problem we have devised a primal SVM method with the following properties: (1) it solves for the SVM representation without the need to invoke the representer theorem, (2) forward and backward selections are combined to approach the final globally optimal solution, and (3) a criterion is introduced for identification of support vectors leading to a much reduced support vector set. In addition to introducing this method the paper analyzes the complexity of the algorithm and presents test results on three public benchmark problems and a human activity recognition application. These applications demonstrate the effectiveness and efficiency of the proposed algorithm.


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Isolation of a bone marrow-derived stem cell line with high proliferation potential and its application for preventing acute fatal liver failure

Transplantation of hepatocytes or hepatocyte-like cells of extrahepatic origin is a promising strategy for treatment of acute and chronic liver failure. We examined possible utility of hepatocyte-like cells induced from bone marrow cells for such a purpose. Clonal cell lines were established from the bone marrow of two different rat strains. One of these cell lines, rBM25/S3 cells, grew rapidly (doubling time, approximately 24 hours) without any appreciable changes in cell properties for at least 300 population doubling levels over a period of 300 days, keeping normal diploid karyotype. The cells expressed CD29, CD44, CD49b, CD90, vimentin, and fibronectin but not CD45, indicating that they are of mesenchymal cell origin. When plated on Matrigel with hepatocyte growth factor and fibroblast growth factor-4, the cells efficiently differentiated into hepatocyte-like cells that expressed albumin, cytochrome P450 (CYP) 1A1, CYP1A2, glucose 6-phosphatase, tryptophane-2,3-dioxygenase, tyrosine aminotransferase, hepatocyte nuclear factor (HNF)1 alpha, and HNF4alpha. Intrasplenic transplantation of the differentiated cells prevented fatal liver failure in 90%-hepatectomized rats. In conclusion, a clonal stem cell line derived from adult rat bone marrow could differentiate into hepatocyte-like cells, and transplantation of the differentiated cells could prevent fatal liver failure in 90%-hepatectomized rats. The present results indicate a promising strategy for treating human fatal liver diseases.

Isolation of epithelial stem cells from dermis by a three-dimensional culture system

Skin is a representative self-renewing tissue containing stem cells. Although many attempts have been made to define and isolate skin-derived stem cells, establishment of a simple and reliable isolation procedure remains a goal to be achieved. Here, we report the isolation of cells having stem cell properties from mouse embryonic skin using a simple selection method based on an assumption that stem cells may grow in an anchorage-independent manner. We inoculated single cell suspensions prepared from mouse embryonic dermis into a temperature-sensitive gel and propagated the resulting colonies in a monolayer culture. The cells named dermis-derived epithelial progenitor-1 (DEEP) showed epithelial morphology and grew rapidly to a more than 200 population doubling level over a period of 250 days. When the cells were kept confluent, they spontaneously formed spheroids and continuously grew even in spheroids. Immunostaining revealed that all of the clones were positive for the expression of cytokeratin-8, -18, -19, and E-cadherin and negative for the expression of cytokeratin-1, -5, -6, -14, -20, vimentin, nestin, a ckit. Furthermore, they expressed epithelial stem cell markers such as p63, integrin beta1, and S100A6. On exposure to TGFbeta in culture, some of DEEP-1 cells expressed alpha-smooth muscle actin. When the cells were transplanted into various organs of adult SCID mice, a part of the inoculated cell population acquired neural, hepatic, and renal cell properties. These results indicate that the cells we isolated were of epithelial stem cell origin and that our new approach is useful for isolation of multipotent stem cells from skin tissues.

Rapid design of discrete orthonormal wavelet transforms

A methodology which allows a non-specialist to rapidly design silicon wavelet transform cores has been developed. This methodology is based on a generic architecture utilizing time-interleaved coefficients for the wavelet transform filters. The architecture is scaleable and it has been parameterized in terms of wavelet family, wavelet type, data word length and coefficient word length. The control circuit is designed in such a way that the cores can also be cascaded without any interface glue logic for any desired level of decomposition. This parameterization allows the use of any orthonormal wavelet family thereby extending the design space for improved transformation from algorithm to silicon. Case studies for stand alone and cascaded silicon cores for single and multi-stage analysis respectively are reported. The typical design time to produce silicon layout of a wavelet based system has been reduced by an order of magnitude. The cores are comparable in area and performance to hand-crafted designs. The designs have been captured in VHDL so they are portable across a range of foundries and are also applicable to FPGA and PLD implementations.

Differential power analysis resistance of Camellia and countermeasure strategy on FPGAs

Security devices are vulnerable to Differential Power Analysis (DPA) that reveals the key by monitoring the power consumption of the circuits. In this paper, we present the first DPA attack against an FPGA implementation of the Camellia encryption algorithm with all key sizes and evaluate the DPA resistance of the algorithm. The Camellia cryptographic algorithm involves several different key-dependent intermediate operations including S-Box operations. In previous research, it was believed that the Camellia is stronger than AES due to the additional Whitening phase protecting the S-Box operation. However, we propose an attack that bypasses the Whitening phase and targets the S-Box. In this paper, we also discuss a lowcost countermeasure strategy to protect the Pre-whitening / Post-whitening and FL function of Camellia using Dual-rail Precharged Logic and to protect against attacks of the S-Box using Random Delay Insertion. © 2009 IEEE.