Diversity, local uses and availability of medicinal plants and wild yams in the Mahafaly region of south-western Madagascar

Short summary: This study was undertaken to assess the diversity of plant resources utilized by the local population in south-western Madagascar, the social, ecological and biophysical conditions that drive their uses and availability, and possible alternative strategies for their sustainable use in the region. The study region, ‘Mahafaly region’, located in south-western Madagascar, is one of the country’s most economically, educationally and climatically disadvantaged regions. With an arid steppe climate, the agricultural production is limited by low water availability and a low level of soil nutrients and soil organic carbon. The region comprises the recently extended Tsimanampetsotsa National Park, with numerous sacred and communities forests, which are threatened by slash and burn agriculture and overexploitation of forests resources. The present study analyzed the availability of wild yams and medicinal plants, and their importance for the livelihood of the local population in this region. An ethnobotanical survey was conducted recording the diversity, local knowledge and use of wild yams and medicinal plants utilized by the local communities in five villages in the Mahafaly region. 250 households were randomly selected followed by semi-structured interviews on the socio-economic characteristics of the households. Data allowed us to characterize sociocultural and socioeconomic factors that determine the local use of wild yams and medicinal plants, and to identify their role in the livelihoods of local people. Species-environment relationships and the current spatial distribution of the wild yams were investigated and predicted using ordination methods and a niche based habitat modelling approach. Species response curves along edaphic gradients allowed us to understand the species requirements on habitat conditions. We thus investigated various alternative methods to enhance the wild yam regeneration for their local conservation and their sustainable use in the Mahafaly region. Altogether, six species of wild yams and a total of 214 medicinal plants species from 68 families and 163 genera were identified in the study region. Results of the cluster and discriminant analysis indicated a clear pattern on resource, resulted in two groups of household and characterized by differences in livestock numbers, off-farm activities, agricultural land and harvests. A generalized linear model highlighted that economic factors significantly affect the collection intensity of wild yams, while the use of medicinal plants depends to a higher degree on socio-cultural factors. The gradient analysis on the distribution of the wild yam species revealed a clear pattern for species habitats. Species models based on NPMR (Nonparametric Multiplicative Regression analysis) indicated the importance of vegetation structure, human interventions, and soil characteristics to determine wild yam species distribution. The prediction of the current availability of wild yam resources showed that abundant wild yam resources are scarce and face high harvest intensity. Experiments on yams cultivation revealed that germination of seeds was enhanced by using pre-germination treatments before planting, vegetative regeneration performed better with the upper part of the tubers (corms) rather than the sets of tubers. In-situ regeneration was possible for the upper parts of the wild tubers but the success depended significantly on the type of soil. The use of manure (10-20 t ha¹) increased the yield of the D. alata and D. alatipes by 40%. We thus suggest the promotion of other cultivated varieties of D. alata found regions neighbouring as the Mahafaly Plateau.

Boundaries and Topological Algorithms

This thesis develops a model for the topological structure of situations. In this model, the topological structure of space is altered by the presence or absence of boundaries, such as those at the edges of objects. This allows the intuitive meaning of topological concepts such as region connectivity, function continuity, and preservation of topological structure to be modeled using the standard mathematical definitions. The thesis shows that these concepts are important in a wide range of artificial intelligence problems, including low-level vision, high-level vision, natural language semantics, and high-level reasoning.

A Compilation Strategy for Numerical Programs Based on Partial Evaluation

This work demonstrates how partial evaluation can be put to practical use in the domain of high-performance numerical computation. I have developed a technique for performing partial evaluation by using placeholders to propagate intermediate results. For an important class of numerical programs, a compiler based on this technique improves performance by an order of magnitude over conventional compilation techniques. I show that by eliminating inherently sequential data-structure references, partial evaluation exposes the low-level parallelism inherent in a computation. I have implemented several parallel scheduling and analysis programs that study the tradeoffs involved in the design of an architecture that can effectively utilize this parallelism. I present these results using the 9- body gravitational attraction problem as an example.

A Distributed Model for Mobile Robot Environment-Learning and Navigation

A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: a collection of reflex-like rules resulting in emergent boundary-tracing. 2) Landmark detection: dynamically extracts landmarks from the robot's motion. 3) Map learning: constructs a distributed map of landmarks. The parallel implementation allows for localization in constant time. Spreading of activation computes both topological and physical shortest paths in linear time. The main issues addressed are: distributed, procedural, and qualitative representation and computation, emergent behaviors, dynamic landmarks, minimized communication.

Virtual Model Control of a Biped Walking Robot

The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.

Virtual Model Control of a Hexapod Walking Robot

Since robots are typically designed with an individual actuator at each joint, the control of these systems is often difficult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity and ease of this control method by using it to control a simulated walking hexapod. Virtual Model Control uses imagined mechanical components to create virtual forces, which are applied through the joint torques of real actuators. This method produces a straightforward means of controlling joint torques to produce a desired robot behavior. Due to the intuitive nature of this control scheme, the design of a virtual model controller is similar to the design of a controller with basic mechanical components. The ease of this control scheme facilitates the use of a high level control system which can be used above the low level virtual model controllers to modulate the parameters of the imaginary mechanical components. In order to apply Virtual Model Control to parallel mechanisms, a solution to the force distribution problem is required. This thesis uses an extension of Gardner`s Partitioned Force Control method which allows for the specification of constrained degrees of freedom. This virtual model control technique was applied to a simulated hexapod robot. Although the hexapod is a highly non-linear, parallel mechanism, the virtual models allowed text-book control solutions to be used while the robot was walking. Using a simple linear control law, the robot walked while simultaneously balancing a pendulum and tracking an object.

A Reinforcement-Learning Approach to Power Management

We describe an adaptive, mid-level approach to the wireless device power management problem. Our approach is based on reinforcement learning, a machine learning framework for autonomous agents. We describe how our framework can be applied to the power management problem in both infrastructure and ad~hoc wireless networks. From this thesis we conclude that mid-level power management policies can outperform low-level policies and are more convenient to implement than high-level policies. We also conclude that power management policies need to adapt to the user and network, and that a mid-level power management framework based on reinforcement learning fulfills these requirements.

From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw physical experiences. It shows that a robotic platform can build up and maintain a system for object localization, segmentation, and recognition, starting from very little. What the robot starts with is a direct solution to achieving figure/ground separation: it simply 'pokes around' in a region of visual ambiguity and watches what happens. If the arm passes through an area, that area is recognized as free space. If the arm collides with an object, causing it to move, the robot can use that motion to segment the object from the background. Once the robot can acquire reliable segmented views of objects, it learns from them, and from then on recognizes and segments those objects without further contact. Both low-level and high-level visual features can also be learned in this way, and examples are presented for both: orientation detection and affordance recognition, respectively. The motivation for this work is simple. Training on large corpora of annotated real-world data has proven crucial for creating robust solutions to perceptual problems such as speech recognition and face detection. But the powerful tools used during training of such systems are typically stripped away at deployment. Ideally they should remain, particularly for unstable tasks such as object detection, where the set of objects needed in a task tomorrow might be different from the set of objects needed today. The key limiting factor is access to training data, but as this thesis shows, that need not be a problem on a robotic platform that can actively probe its environment, and carry out experiments to resolve ambiguity. This work is an instance of a general approach to learning a new perceptual judgment: find special situations in which the perceptual judgment is easy and study these situations to find correlated features that can be observed more generally.

Representation and Detection of Shapes in Images

We present a set of techniques that can be used to represent and detect shapes in images. Our methods revolve around a particular shape representation based on the description of objects using triangulated polygons. This representation is similar to the medial axis transform and has important properties from a computational perspective. The first problem we consider is the detection of non-rigid objects in images using deformable models. We present an efficient algorithm to solve this problem in a wide range of situations, and show examples in both natural and medical images. We also consider the problem of learning an accurate non-rigid shape model for a class of objects from examples. We show how to learn good models while constraining them to the form required by the detection algorithm. Finally, we consider the problem of low-level image segmentation and grouping. We describe a stochastic grammar that generates arbitrary triangulated polygons while capturing Gestalt principles of shape regularity. This grammar is used as a prior model over random shapes in a low level algorithm that detects objects in images.

Building Grounded Abstractions for Artificial Intelligence Programming

Most Artificial Intelligence (AI) work can be characterized as either ``high-level'' (e.g., logical, symbolic) or ``low-level'' (e.g., connectionist networks, behavior-based robotics). Each approach suffers from particular drawbacks. High-level AI uses abstractions that often have no relation to the way real, biological brains work. Low-level AI, on the other hand, tends to lack the powerful abstractions that are needed to express complex structures and relationships. I have tried to combine the best features of both approaches, by building a set of programming abstractions defined in terms of simple, biologically plausible components. At the ``ground level'', I define a primitive, perceptron-like computational unit. I then show how more abstract computational units may be implemented in terms of the primitive units, and show the utility of the abstract units in sample networks. The new units make it possible to build networks using concepts such as long-term memories, short-term memories, and frames. As a demonstration of these abstractions, I have implemented a simulator for ``creatures'' controlled by a network of abstract units. The creatures exist in a simple 2D world, and exhibit behaviors such as catching mobile prey and sorting colored blocks into matching boxes. This program demonstrates that it is possible to build systems that can interact effectively with a dynamic physical environment, yet use symbolic representations to control aspects of their behavior.

Exploring Object Perception with Random Image Structure Evolution

We have developed a technique called RISE (Random Image Structure Evolution), by which one may systematically sample continuous paths in a high-dimensional image space. A basic RISE sequence depicts the evolution of an object's image from a random field, along with the reverse sequence which depicts the transformation of this image back into randomness. The processing steps are designed to ensure that important low-level image attributes such as the frequency spectrum and luminance are held constant throughout a RISE sequence. Experiments based on the RISE paradigm can be used to address some key open issues in object perception. These include determining the neural substrates underlying object perception, the role of prior knowledge and expectation in object perception, and the developmental changes in object perception skills from infancy to adulthood.

Contextual Priming for Object Detection

There is general consensus that context can be a rich source of information about an object's identity, location and scale. In fact, the structure of many real-world scenes is governed by strong configurational rules akin to those that apply to a single object. Here we introduce a simple probabilistic framework for modeling the relationship between context and object properties based on the correlation between the statistics of low-level features across the entire scene and the objects that it contains. The resulting scheme serves as an effective procedure for object priming, context driven focus of attention and automatic scale-selection on real-world scenes.

Role of color in face recognition

One of the key challenges in face perception lies in determining the contribution of different cues to face identification. In this study, we focus on the role of color cues. Although color appears to be a salient attribute of faces, past research has suggested that it confers little recognition advantage for identifying people. Here we report experimental results suggesting that color cues do play a role in face recognition and their contribution becomes evident when shape cues are degraded. Under such conditions, recognition performance with color images is significantly better than that with grayscale images. Our experimental results also indicate that the contribution of color may lie not so much in providing diagnostic cues to identity as in aiding low-level image-analysis processes such as segmentation.

Prevención de la transmisión sexual del VIH en adolescentes

En una muestra de 119 estudiantes de cuarto de Educación Secundaria Obligatoria (ESO) y primero de Bachillerato (52,6% mujeres) se analizan los conocimientos sobre la prevención de la transmisión sexual del virus del sida, las expectativas de resultados y de autoeficacia respecto a los métodos preventivos y el tipo de prevención utilizada durante la última relación sexual. Para evitar las respuestas inducidas respecto a los comportamientos preventivos se emplea un formato de pregunta abierta. Los resultados muestran que sólo el 23,5% de los estudiantes han dado dos respuestas totalmente correctas sobre estrategias consideradas eficaces en la prevención sexual del VIH: uso del preservativo y abstinencia (por este orden). El 70,5% valoran totalmente o muy eficaz el preservativo para evitar la transmisión sexual del VIH y el 95% de los que dan la segunda respuesta juzgan totalmente eficaz la práctica de la abstinencia con la misma finalidad. En el caso del preservativo se sienten totalmente o muy capaces de usarlo el 64,3%, mientras que cuando se trata de la abstinencia sólo se perciben con esa competencia el 20%. Por lo que se refiere al uso autoinformado de métodos preventivos en la última relación, por parte de los 29 estudiantes que tuvieron actividad sexual durante el mes anterior, se observa que 21 de ellos emplearon el preservativo, dos la píldora anticonceptiva, otros dos no precisan el tipo de precaución y el resto no tomó ninguna. Tanto el reducido nivel de conocimientos sobre prevención, como la baja percepción de autoeficacia para mantenerse abstinentes, nos alertan sobre la necesidad de hacer un mayor esfuerzo de información para eliminar creencias equivocadas, como por ejemplo: sobre la pretendida eficacia protectora de tener relaciones sexuales con una pareja estable o conocida. Así mismo, conviene insistir en el uso del preservativo como anticonceptivo de elección entre los adolescentes

libLocation: acceso a dispositivos de localización para gvSIG Desktop y Mobile

Inicialmente integrada en el piloto de gvSIG Mobile, la librería libLocation tiene como objetivo dotar a los proyectos gvSIG Desktop y gvSIG Mobile un acceso transparente a fuentes de localización. La librería se fundamenta en las especificaciones JSR-179 -API de localización para J2ME- y JSR-293 -API de localización para J2ME v2.0-, proporcionando una interfaz uniforme a diferentes fuentes de localización, mediante funciones de alto nivel. Asimismo, se extiende la funcionalidad de estas APIs para permitir la gestión de datos específicos del tipo de fuente de localización y el ajuste de parámetros de bajo nivel, además de incorporar métodos de localización adicionales, como la aplicación de correcciones vía protocolo NTRIP. La librería libLocation está actualmente en proceso de desarrollo y será publicada y liberada junto con la versión definitiva de gvSIG Mobile. Junto con libLocation se están desarrollando extensiones que permiten el acceso a esta librería desde gvSIG Desktop y gvSIG Mobile