Learning-Based Approach to Estimation of Morphable Model Parameters

We describe the key role played by partial evaluation in the Supercomputing Toolkit, a parallel computing system for scientific applications that effectively exploits the vast amount of parallelism exposed by partial evaluation. The Supercomputing Toolkit parallel processor and its associated partial evaluation-based compiler have been used extensively by scientists at MIT, and have made possible recent results in astrophysics showing that the motion of the planets in our solar system is chaotically unstable.

Lean Enterprise Transformation: Measuring and Accelerating the transition to lean.

PowerPoint presentation that showcases: • Research Objectives • Strategic Value of the Lean Enterprise • Multi-Stakeholder Value Optimization • Lean Enterprise Self-Assessment Tool (LESAT) • Leading and Lagging Indicators of Lean Enterprise Transformation • Empirical Results in the Aerospace Industry • Accelerating the Lean Transformation - Linking LESAT to Strategic Objectives • Summary and Questions

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

Model Order Reduction for Determining Bubble Parameters to Attain a Desired Fluid Surface Shape

In this paper, a new methodology for predicting fluid free surface shape using Model Order Reduction (MOR) is presented. Proper Orthogonal Decomposition combined with a linear interpolation procedure for its coefficient is applied to a problem involving bubble dynamics near to a free surface. A model is developed to accurately and efficiently capture the variation of the free surface shape with different bubble parameters. In addition, a systematic approach is developed within the MOR framework to find the best initial locations and pressures for a set of bubbles beneath the quiescent free surface such that the resultant free surface attained is close to a desired shape. Predictions of the free surface in two-dimensions and three-dimensions are presented.

Dynamic graphics of parametrically linked multivariate methods used in compositional data analysis

Many multivariate methods that are apparently distinct can be linked by introducing one or more parameters in their definition. Methods that can be linked in this way are correspondence analysis, unweighted or weighted logratio analysis (the latter also known as "spectral mapping"), nonsymmetric correspondence analysis, principal component analysis (with and without logarithmic transformation of the data) and multidimensional scaling. In this presentation I will show how several of these methods, which are frequently used in compositional data analysis, may be linked through parametrizations such as power transformations, linear transformations and convex linear combinations. Since the methods of interest here all lead to visual maps of data, a "movie" can be made where where the linking parameter is allowed to vary in small steps: the results are recalculated "frame by frame" and one can see the smooth change from one method to another. Several of these "movies" will be shown, giving a deeper insight into the similarities and differences between these methods

Robust Factor Analysis for Compositional Data

Factor analysis as frequent technique for multivariate data inspection is widely used also for compositional data analysis. The usual way is to use a centered logratio (clr) transformation to obtain the random vector y of dimension D. The factor model is then y = Λf + e (1) with the factors f of dimension k < D, the error term e, and the loadings matrix Λ. Using the usual model assumptions (see, e.g., Basilevsky, 1994), the factor analysis model (1) can be written as Cov(y) = ΛΛT + ψ (2) where ψ = Cov(e) has a diagonal form. The diagonal elements of ψ as well as the loadings matrix Λ are estimated from an estimation of Cov(y). Given observed clr transformed data Y as realizations of the random vector y. Outliers or deviations from the idealized model assumptions of factor analysis can severely effect the parameter estimation. As a way out, robust estimation of the covariance matrix of Y will lead to robust estimates of Λ and ψ in (2), see Pison et al. (2003). Well known robust covariance estimators with good statistical properties, like the MCD or the S-estimators (see, e.g. Maronna et al., 2006), rely on a full-rank data matrix Y which is not the case for clr transformed data (see, e.g., Aitchison, 1986). The isometric logratio (ilr) transformation (Egozcue et al., 2003) solves this singularity problem. The data matrix Y is transformed to a matrix Z by using an orthonormal basis of lower dimension. Using the ilr transformed data, a robust covariance matrix C(Z) can be estimated. The result can be back-transformed to the clr space by C(Y ) = V C(Z)V T where the matrix V with orthonormal columns comes from the relation between the clr and the ilr transformation. Now the parameters in the model (2) can be estimated (Basilevsky, 1994) and the results have a direct interpretation since the links to the original variables are still preserved. The above procedure will be applied to data from geochemistry. Our special interest is on comparing the results with those of Reimann et al. (2002) for the Kola project data

ROC parameters in item and context recognition. 'Par??metros ROC en el reconocimiento de items y contextos'

Resumen tomado de la publicaci??n. Resumen tambi??n en ingl??s

Prediction of glucose excursions under uncertain parameters and food intake in intensive insulin therapy for type 1 diabetes mellitus

Considering the difficulty in the insulin dosage selection and the problem of hyper- and hypoglycaemia episodes in type 1 diabetes, dosage-aid systems appear as tremendously helpful for these patients. A model-based approach to this problem must unavoidably consider uncertainty sources such as the large intra-patient variability and food intake. This work addresses the prediction of glycaemia for a given insulin therapy face to parametric and input uncertainty, by means of modal interval analysis. As result, a band containing all possible glucose excursions suffered by the patient for the given uncertainty is obtained. From it, a safer prediction of possible hyper- and hypoglycaemia episodes can be calculated

CITE and educational transformation

Presentation given by Professor Hugh Davis to the University Strategic Research Group for the Digital Economy monthly lunch meeting on Monday 24 September 2012. This session provided an update on the evolution of the University Centre for Innovation in Technologies and Education (CITE) in September 2012.

Legal Sociology Reformulated: the Transformation of Law in Globalization and New Citizenship

This article seeks to demonstrate how Law inter-related with Economy, constitutes in modern societies one of the main instruments for the construction of citizen consensus or the construction of political hegemony in modern societies. If we consider this affirmation —as is argued here— the transformations suffered in recent decades by Law as a consequence of the new phase of capitalistic globalization, have played an important role in the constitution of a new subjectivity (“single thought”) in the population.

Perdurabilidad empresarial: concepto y significados

Los grandes aportes generados por las antiguas civilizaciones y los filósofos más destacados a lo largo del tiempo, permiten entender la procedencia de algunos términos de los que hoy en día se hace uso. Estas contribuciones comienzan a través de la concepción del término tiempo, desde la antigüedad hasta los tiempos modernos, las cuales conllevan a entender que el tiempo es aquel que define la durabilidad de las cosas. De acuerdo a esto, se propone un acercamiento sobre el origen del término perdurabilidad, el cual será la base de la presente investigación. Entender la procedencia del término y el uso que se le da a sí mismo, facilita la aplicación el ámbito empresarial; el cual, a partir de diferentes posturas de autores nacionales e internacionales y basados en los parámetros que ha establecido la Universidad del Rosario, se establece un marco teórico de apoyo para futuras investigaciones dedicadas a la perdurabilidad empresarial. Asimismo, se establecen o se plasman algunos principios o factores de éxito que ayudan a que una empresa logre traspasar fronteras en tiempo y en rentabilidad; es decir que no solo permanezca muchos años en el mercado, sino que además se mantenga en constante crecimiento y rentabilidad.

El honor como expresión de la conciencia colectiva en la sociedad del Virreinato de la Nueva Granada, 1760 - 1810

Este documento ofrece un análisis sociológico del papel que cumplía el honor como valor en la sociedad neogranadina a finales de la Colonia a partir de algunos conceptos clave que ofrecen autores clásicos de la disciplina. El honor se puede enmarcar dentro de lo que algunos autores han denominado solidaridades sociales o conciencia colectiva. Es decir, dentro del conjunto de creencias y valores compartidos por los integrantes de una misma sociedad. Dado que para la época estudiada la herencia española en torno al honor ya había logrado un alto nivel de arraigo, es posible pensar que el interés por proteger el honor hacía parte del sentimiento común en la sociedad neogranadina. Y es que el hecho de que la noción de honor estuviese anclada en los valores religiosos, que tanto la Iglesia como la Corona promovieron, condujo a que el fundamento del honor tuviese un carácter moral, logrando así una alta difusión dentro del territorio americano. La idea del honor determinaba, en buena medida, los parámetros del orden social deseado.

Edexcel GCSE history A : the making of the modern world. Unit 3A : war and the transformation of british society c. 1903-28. Student book.

Es una de las cuatro unidades del curso de preparación para los exámenes del General Certificate Secondary Education (GCSE). Esta unidad 3 es diferente de las dos unidades anteriores pues sus temas se basan en comprender la importancia de las fuentes en el estudio de la historia y como pueden ser interpretadas de varias maneras, lo que lleva a los historiadores a emitir juicios sobre la utilidad y fiabilidad de la información que proporcionan. Asimismo, se explica que en esta parte del examen del GCSE se conjugan los conocimientos y la información sobre los hechos con los juicios sobre las fuentes históricas.

Edexcel GCSE history A : the making of the modern world. Unit 3B : war and the transformation of british society c. 1931-51. Student book.

Es una de las cuatro unidades del curso de preparación para los exámenes del General Certificate Secondary Education (GCSE). Esta unidad 3 es diferente de las dos unidades anteriores pues sus temas se basan en comprender la importancia de las fuentes en el estudio de la historia y como pueden ser interpretadas de varias maneras, lo que lleva a los historiadores a emitir juicios sobre la utilidad y fiabilidad de la información que proporcionan. Asimismo, se explica que en esta parte del examen del GCSE se conjugan los conocimientos y la información sobre los hechos con los juicios sobre las fuentes históricas.

Adaptation to climate change : from resilience to transformation.

Es un análisis exhaustivo de las dimensiones sociales del cambio climático, pues se considera una prioridad para el desarrollo humano aprender a vivir con sus efectos. Se presentan una serie de opciones que puede afrontar la humanidad en esta tarea estrictamente defensiva de adaptación a los riesgos del calentamiento global de la Tierra. Es una obra de referencia para los estudiantes de pregrado y postgrado interesados en los estudios sobre cambio climático, geografía y desarrollo.