Optimized HOG for on-road video based vehicle verification

Vision-based object detection from a moving platform becomes particularly challenging in the field of advanced driver assistance systems (ADAS). In this context, onboard vision-based vehicle verification strategies become critical, facing challenges derived from the variability of vehicles appearance, illumination, and vehicle speed. In this paper, an optimized HOG configuration for onboard vehicle verification is proposed which not only considers its spatial and orientation resolution, but descriptor processing strategies and classification. An in-depth analysis of the optimal settings for HOG for onboard vehicle verification is presented, in the context of SVM classification with different kernels. In contrast to many existing approaches, the evaluation is realized in a public and heterogeneous database of vehicle and non-vehicle images in different areas of the road, rendering excellent verification rates that outperform other similar approaches in the literature.

Formal Verification of Temporal Properties for Parametrized Concurrent Programs and Concurrent Data Structures

Los tipos de datos concurrentes son implementaciones concurrentes de las abstracciones de datos clásicas, con la diferencia de que han sido específicamente diseñados para aprovechar el gran paralelismo disponible en las modernas arquitecturas multiprocesador y multinúcleo. La correcta manipulación de los tipos de datos concurrentes resulta esencial para demostrar la completa corrección de los sistemas de software que los utilizan. Una de las mayores dificultades a la hora de diseñar y verificar tipos de datos concurrentes surge de la necesidad de tener que razonar acerca de un número arbitrario de procesos que invocan estos tipos de datos de manera concurrente. Esto requiere considerar sistemas parametrizados. En este trabajo estudiamos la verificación formal de propiedades temporales de sistemas concurrentes parametrizados, poniendo especial énfasis en programas que manipulan estructuras de datos concurrentes. La principal dificultad a la hora de razonar acerca de sistemas concurrentes parametrizados proviene de la interacción entre el gran nivel de concurrencia que éstos poseen y la necesidad de razonar al mismo tiempo acerca de la memoria dinámica. La verificación de sistemas parametrizados resulta en sí un problema desafiante debido a que requiere razonar acerca de estructuras de datos complejas que son accedidas y modificadas por un numero ilimitado de procesos que manipulan de manera simultánea el contenido de la memoria dinámica empleando métodos de sincronización poco estructurados. En este trabajo, presentamos un marco formal basado en métodos deductivos capaz de ocuparse de la verificación de propiedades de safety y liveness de sistemas concurrentes parametrizados que manejan estructuras de datos complejas. Nuestro marco formal incluye reglas de prueba y técnicas especialmente adaptadas para sistemas parametrizados, las cuales trabajan en colaboración con procedimientos de decisión especialmente diseñados para analizar complejas estructuras de datos concurrentes. Un aspecto novedoso de nuestro marco formal es que efectúa una clara diferenciación entre el análisis del flujo de control del programa y el análisis de los datos que se manejan. El flujo de control del programa se analiza utilizando reglas de prueba y técnicas de verificación deductivas especialmente diseñadas para lidiar con sistemas parametrizados. Comenzando a partir de un programa concurrente y la especificación de una propiedad temporal, nuestras técnicas deductivas son capaces de generar un conjunto finito de condiciones de verificación cuya validez implican la satisfacción de dicha especificación temporal por parte de cualquier sistema, sin importar el número de procesos que formen parte del sistema. Las condiciones de verificación generadas se corresponden con los datos manipulados. Estudiamos el diseño de procedimientos de decisión especializados capaces de lidiar con estas condiciones de verificación de manera completamente automática. Investigamos teorías decidibles capaces de describir propiedades de tipos de datos complejos que manipulan punteros, tales como implementaciones imperativas de pilas, colas, listas y skiplists. Para cada una de estas teorías presentamos un procedimiento de decisión y una implementación práctica construida sobre SMT solvers. Estos procedimientos de decisión son finalmente utilizados para verificar de manera automática las condiciones de verificación generadas por nuestras técnicas de verificación parametrizada. Para concluir, demostramos como utilizando nuestro marco formal es posible probar no solo propiedades de safety sino además de liveness en algunas versiones de protocolos de exclusión mutua y programas que manipulan estructuras de datos concurrentes. El enfoque que presentamos en este trabajo resulta ser muy general y puede ser aplicado para verificar un amplio rango de tipos de datos concurrentes similares. Abstract Concurrent data types are concurrent implementations of classical data abstractions, specifically designed to exploit the great deal of parallelism available in modern multiprocessor and multi-core architectures. The correct manipulation of concurrent data types is essential for the overall correctness of the software system built using them. A major difficulty in designing and verifying concurrent data types arises by the need to reason about any number of threads invoking the data type simultaneously, which requires considering parametrized systems. In this work we study the formal verification of temporal properties of parametrized concurrent systems, with a special focus on programs that manipulate concurrent data structures. The main difficulty to reason about concurrent parametrized systems comes from the combination of their inherently high concurrency and the manipulation of dynamic memory. This parametrized verification problem is very challenging, because it requires to reason about complex concurrent data structures being accessed and modified by threads which simultaneously manipulate the heap using unstructured synchronization methods. In this work, we present a formal framework based on deductive methods which is capable of dealing with the verification of safety and liveness properties of concurrent parametrized systems that manipulate complex data structures. Our framework includes special proof rules and techniques adapted for parametrized systems which work in collaboration with specialized decision procedures for complex data structures. A novel aspect of our framework is that it cleanly differentiates the analysis of the program control flow from the analysis of the data being manipulated. The program control flow is analyzed using deductive proof rules and verification techniques specifically designed for coping with parametrized systems. Starting from a concurrent program and a temporal specification, our techniques generate a finite collection of verification conditions whose validity entails the satisfaction of the temporal specification by any client system, in spite of the number of threads. The verification conditions correspond to the data manipulation. We study the design of specialized decision procedures to deal with these verification conditions fully automatically. We investigate decidable theories capable of describing rich properties of complex pointer based data types such as stacks, queues, lists and skiplists. For each of these theories we present a decision procedure, and its practical implementation on top of existing SMT solvers. These decision procedures are ultimately used for automatically verifying the verification conditions generated by our specialized parametrized verification techniques. Finally, we show how using our framework it is possible to prove not only safety but also liveness properties of concurrent versions of some mutual exclusion protocols and programs that manipulate concurrent data structures. The approach we present in this work is very general, and can be applied to verify a wide range of similar concurrent data types.

Desarrollo de un método estadístico para la generación de escenarios climáticos de alta resolución a partir de simulaciones de baja resolución de Modelos de Circulación General: aplicación a España

Esta tesis doctoral presenta el desarrollo, verificación y aplicación de un método original de regionalización estadística para generar escenarios locales de clima futuro de temperatura y precipitación diarias, que combina dos pasos. El primer paso es un método de análogos: los "n" días cuya configuración atmosférica de baja resolución es más parecida a la del día problema, se seleccionan de un banco de datos de referencia del pasado. En el segundo paso, se realiza un análisis de regresión múltiple sobre los "n" días más análogos para la temperatura, mientras que para la precipitación se utiliza la distribución de probabilidad de esos "n" días análogos para obtener la estima de precipitación. La verificación de este método se ha llevado a cabo para la España peninsular y las Islas Baleares. Los resultados muestran unas buenas prestaciones para temperatura (BIAS cerca de 0.1ºC y media de errores absolutos alrededor de 1.9ºC); y unas prestaciones aceptables para la precipitación (BIAS razonablemente bajo con una media de -18%; error medio absoluto menor que para una simulación de referencia (la persistencia); y una distribución de probabilidad simulada similar a la observada según dos test no-paramétricos de similitud). Para mostrar la aplicabilidad de la metodología desarrollada, se ha aplicado en detalle en un caso de estudio. El método se aplicó a cuatro modelos climáticos bajo diferentes escenarios futuros de emisiones de gases de efecto invernadero, para la región de Aragón, produciendo así proyecciones futuras de precipitación y temperaturas máximas y mínimas diarias. La fiabilidad de la técnica de regionalización fue evaluada de nuevo para el caso de estudio mediante un proceso de verificación. Para determinar la capacidad de los modelos climáticos para simular el clima real, sus simulaciones del pasado (la denominada salida 20C3M) se regionalizaron y luego se compararon con el clima observado (los resultados son bastante robustos para la temperatura y menos concluyentes para la precipitación). Las proyecciones futuras a escala local presentan un aumento significativo durante todo el siglo XXI de las temperaturas máximas y mínimas para todos los futuros escenarios de emisiones considerados. Las simulaciones de precipitación presentan mayores incertidumbres. Además, la aplicabilidad práctica del método se demostró también mediante su utilización para producir escenarios climáticos futuros para otros casos de estudio en los distintos sectores y regiones del mundo. Se ha prestado especial atención a una aplicación en Centroamérica, una región que ya está sufriendo importantes impactos del cambio climático y que tiene un clima muy diferente. ABSTRACT This doctoral thesis presents the development, verification and application of an original downscaling method for daily temperature and precipitation, which combines two statistical approaches. The first step is an analogue approach: the “n” days most similar to the day to be downscaled are selected. In the second step, a multiple regression analysis using the “n” most analogous days is performed for temperature, whereas for precipitation the probability distribution of the “n” analogous days is used to obtain the amount of precipitation. Verification of this method has been carried out for the Spanish Iberian Peninsula and the Balearic Islands. Results show good performance for temperature (BIAS close to 0.1ºC and Mean Absolute Errors around 1.9ºC); and an acceptable skill for precipitation (reasonably low BIAS with a mean of - 18%, Mean Absolute Error lower than for a reference simulation, i.e. persistence, and a well-simulated probability distribution according to two non-parametric tests of similarity). To show the applicability of the method, a study case has been analyzed. The method was applied to four climate models under different future emission scenarios for the region of Aragón, thus producing future projections of daily precipitation and maximum and minimum temperatures. The reliability of the downscaling technique was re-assessed for the study case by a verification process. To determine the ability of the climate models to simulate the real climate, their simulations of the past (the 20C3M output) were downscaled and then compared with the observed climate – the results are quite robust for temperature and less conclusive for the precipitation. The downscaled future projections exhibit a significant increase during the entire 21st century of the maximum and minimum temperatures for all the considered future emission scenarios. Precipitation simulations exhibit greater uncertainties. Furthermore, the practical applicability of the method was demonstrated also by using it to produce future climate scenarios for some other study cases in different sectors and regions of the world. Special attention was paid to an application of the method in Central America, a region that is already suffering from significant climate change impacts and that has a very different climate from others where the method was previously applied.

Female preference for swords in Xiphophorus helleri reflects a bias for large apparent size

Swordtail fish (Poeciliidae: genus Xiphophorus) are a paradigmatic case of sexual selection by sensory exploitation. Female preference for males with a conspicuous “sword” ornament is ancestral, suggesting that male morphology has evolved in response to a preexisting bias. The perceptual mechanisms underlying female mate choice have not been identified, complicating efforts to understand the selection pressures acting on ornament design. We consider two alternative models of receiver behavior, each consistent with previous results. Females could respond either to specific characteristics of the sword or to more general cues, such as the apparent size of potential mates. We showed female swordtails a series of computer-altered video sequences depicting a courting male. Footage of an intact male was preferred strongly to otherwise identical sequences in which portions of the sword had been deleted selectively, but a disembodied courting sword was less attractive than an intact male. There was no difference between responses to an isolated sword and to a swordless male of comparable length, or between an isolated sword and a homogenous background. Female preference for a sworded male was abolished by enlarging the image of a swordless male to compensate for the reduction in length caused by removing the ornament. This pattern of results is consistent with mate choice being mediated by a general preference for large males rather than by specific characters. Similar processes may account for the evolution of exaggerated traits in other systems.

Crossover isomer bias is the primary sequence-dependent property of immobilized Holliday junctions

Recombination of genes is essential to the evolution of genetic diversity, the segregation of chromosomes during cell division, and certain DNA repair processes. The Holliday junction, a four-arm, four-strand branched DNA crossover structure, is formed as a transient intermediate during genetic recombination and repair processes in the cell. The recognition and subsequent resolution of Holliday junctions into parental or recombined products appear to be critically dependent on their three-dimensional structure. Complementary NMR and time-resolved fluorescence resonance energy transfer experiments on immobilized four-arm DNA junctions reported here indicate that the Holliday junction cannot be viewed as a static structure but rather as an equilibrium mixture of two conformational isomers. Furthermore, the distribution between the two possible crossover isomers was found to depend on the sequence in a manner that was not anticipated on the basis of previous low-resolution experiments.

The atypical codon usage of the plant psbA gene may be the remnant of an ancestral bias

The psbA gene of the chloroplast genome has a codon usage that is unusual for plant chloroplast genes. In the present study the evolutionary status of this codon usage is tested by reconstructing putative ancestral psbA sequences to determine the pattern of change in codon bias during angiosperm divergence. It is shown that the codon biases of the ancestral genes are much stronger than all extant flowering plant psbA genes. This is related to previous work that demonstrated a significant increase in synonymous substitution in psbA relative to other chloroplast genes. It is suggested, based on the two lines of evidence, that the codon bias of this gene currently is not being maintained by selection. Rather, the atypical codon bias simply may be a remnant of an ancestral codon bias that now is being degraded by the mutation bias of the chloroplast genome, in other words, that the psbA gene is not at equilibrium. A model for the evolution of selective pressure on the codon usage of plant chloroplast genes is discussed.

Sources of selection bias in evaluating social programs: An interpretation of conventional measures and evidence on the effectiveness of matching as a program evaluation method

This paper decomposes the conventional measure of selection bias in observational studies into three components. The first two components are due to differences in the distributions of characteristics between participant and nonparticipant (comparison) group members: the first arises from differences in the supports, and the second from differences in densities over the region of common support. The third component arises from selection bias precisely defined. Using data from a recent social experiment, we find that the component due to selection bias, precisely defined, is smaller than the first two components. However, selection bias still represents a substantial fraction of the experimental impact estimate. The empirical performance of matching methods of program evaluation is also examined. We find that matching based on the propensity score eliminates some but not all of the measured selection bias, with the remaining bias still a substantial fraction of the estimated impact. We find that the support of the distribution of propensity scores for the comparison group is typically only a small portion of the support for the participant group. For values outside the common support, it is impossible to reliably estimate the effect of program participation using matching methods. If the impact of participation depends on the propensity score, as we find in our data, the failure of the common support condition severely limits matching compared with random assignment as an evaluation estimator.

Nem um tostão da previdência social : o caso das bóias-frias idosas no semi-árido irrigado

Inclui notas explicativas e bibliográficas

How Escherichia coli can bias the results of molecular cloning: Preferential selection of defective genomes of hepatitis C virus during the cloning procedure

Cloned PCR products containing hepatitis C virus (HCV) genomic fragments have been used for analyses of HCV genomic heterogeneity and protein expression. These studies assume that the clones derived are representative of the entire virus population and that subsets are not inadvertently selected. The aim of the present study was to express HCV structural proteins. However, we found that there was a strong cloning selection for defective genomes and that most clones generated initially were incapable of expressing the HCV proteins. The HCV structural region (C-E1-E2-p7) was directly amplified by long reverse transcription–PCR from the plasma of an HCV-infected patient or from a control plasmid containing a viable full-length cDNA of HCV derived from the same patient but cloned in a different vector. The PCR products were cloned into a mammalian expression vector, amplified in Escherichia coli, and tested for their ability to produce HCV structural proteins. Twenty randomly picked clones derived from the HCV-infected patient all contained nucleotide mutations leading to absence or truncation of the expected HCV products. Of 25 clones derived from the control plasmid, only 8% were fully functional for polyprotein synthesis. The insertion of extra nucleotides in the region just upstream of the start codon of the HCV insert led to a statistically significant increase in the number of fully functional clones derived from the patient (42%) and from the control plasmid (72–92%). Nonrandom selection of clones during the cloning procedure has enormous implications for the study of viral heterogeneity, because it can produce a false spectrum of genomic diversity. It can also be an impediment to the construction of infectious viral clones.

Evolution of codon usage bias in Drosophila

We first review what is known about patterns of codon usage bias in Drosophila and make the following points: (i) Drosophila genes are as biased or more biased than those in microorganisms. (ii) The level of bias of genes and even the particular pattern of codon bias can remain phylogenetically invariant for very long periods of evolution. (iii) However, some genes, even very tightly linked genes, can change very greatly in codon bias across species. (iv) Generally G and especially C are favored at synonymous sites in biased genes. (v) With the exception of aspartic acid, all amino acids contribute significantly and about equally to the codon usage bias of a gene. (vi) While most individual amino acids that can use G or C at synonymous sites display a preference for C, there are exceptions: valine and leucine, which prefer G. (vii) Finally, smaller genes tend to be more biased than longer genes. We then examine possible causes of these patterns and discount mutation bias on three bases: there is little evidence of regional mutation bias in Drosophila, mutation bias is likely toward A+T (the opposite of codon usage bias), and not all amino acids display the preference for the same nucleotide in the wobble position. Two lines of evidence support a selection hypothesis based on tRNA pools: highly biased genes tend to be highly and/or rapidly expressed, and the preferred codons in highly biased genes optimally bind the most abundant isoaccepting tRNAs. Finally, we examine the effect of bias on DNA evolution and confirm that genes with high codon usage bias have lower rates of synonymous substitution between species than do genes with low codon usage bias. Surprisingly, we find that genes with higher codon usage bias display higher levels of intraspecific synonymous polymorphism. This may be due to opposing effects of recombination.

Effects of passage history and sampling bias on phylogenetic reconstruction of human influenza A evolution

In this paper we determine the extent to which host-mediated mutations and a known sampling bias affect evolutionary studies of human influenza A. Previous phylogenetic reconstruction of influenza A (H3N2) evolution using the hemagglutinin gene revealed an excess of nonsilent substitutions assigned to the terminal branches of the tree. We investigate two hypotheses to explain this observation. The first hypothesis is that the excess reflects mutations that were either not present or were at low frequency in the viral sample isolated from its human host, and that these mutations increased in frequency during passage of the virus in embryonated eggs. A set of 22 codons known to undergo such “host-mediated” mutations showed a significant excess of mutations assigned to branches attaching sequences from egg-cultured (as opposed to cell-cultured) isolates to the tree. Our second hypothesis is that the remaining excess results from sampling bias. Influenza surveillance is purposefully biased toward sequencing antigenically dissimilar strains in an effort to identify new variants that may signal the need to update the vaccine. This bias produces an excess of mutations assigned to terminal branches simply because an isolate with no close relatives is by definition attached to the tree by a relatively long branch. Simulations show that the magnitude of excess mutations we observed in the hemagglutinin tree is consistent with expectations based on our sampling protocol. Sampling bias does not affect inferences about evolution drawn from phylogenetic analyses. However, if possible, the excess caused by host-mediated mutations should be removed from studies of the evolution of influenza viruses as they replicate in their human hosts.

Sequence verification of human creatine kinase (43 kDa) isozymes by high-resolution tandem mass spectrometry.

Amino acid sequencing by recombinant DNA technology, although dramatically useful, is subject to base reading errors, is indirect, and is insensitive to posttranslational processing. Mass spectrometry techniques can provide molecular weight data from even relatively large proteins for such cDNA sequences and can serve as a check of an enzyme's purity and sequence integrity. Multiply-charged ions from electrospray ionization can be dissociated to yield structural information by tandem mass spectrometry, providing a second method for gaining additional confidence in primary sequence confirmation. Here, accurate (+/- 1 Da) molecular weight and molecular ion dissociation information for human muscle and brain creatine kinases has been obtained by electrospray ionization coupled with Fourier-transform mass spectrometry to help distinguish which of several published amino acid sequences for both enzymes are correct. The results herein are consistent with one published sequence for each isozyme, and the heterogeneity indicated by isoelectric focusing due to 1-Da deamidation changes. This approach appears generally useful for detailed sequence verification of recombinant proteins.

Neighboring base composition and transversion/transition bias in a comparison of rice and maize chloroplast noncoding regions.

The correspondence between the transversion/transition ratio and the neighboring base composition in chloroplast DNA is examined. For 18 noncoding regions of the chloroplast genome, alignments between rice (Oryza sativa) and maize (Zea mays) were generated by two different methods. Difficulties of aligning noncoding DNA are discussed, and the alignments are analyzed in a manner that reduces alignment artifacts. Sequence divergence is < 10%, so multiple substitutions at a site are assumed to be rare. Observed substitutions were analyzed with respect to the A+T content of the two immediately flanking bases. It is shown that as this content increases, the proportion of transversions also increases. When both the 5'- and 3'-flanking nucleotides are G or C (A+T content of 0), only 25% of the observed substitutions are transversions. However, when both the 5'- and 3'-flanking nucleotides are A or T (A+T content of 2), 57% of the observed substitutions are transversions. Therefore, the influence of flanking base composition on substitutions, previously reported for a single noncoding region, is a general feature of the chloroplast genome.