Probabilistic position and orientation estimation of rigid objects using an RGB-D sensor

The recent emergence of low-cost RGB-D sensors has brought new opportunities for robotics by providing affordable devices that can provide synchronized images with both color and depth information. In this thesis, recent work on pose estimation utilizing RGBD sensors is reviewed. Also, a pose recognition system for rigid objects using RGB-D data is implemented. The implementation uses half-edge primitives extracted from the RGB-D images for pose estimation. The system is based on the probabilistic object representation framework by Detry et al., which utilizes Nonparametric Belief Propagation for pose inference. Experiments are performed on household objects to evaluate the performance and robustness of the system.

Generalization of temporal order detection skill learning: two experimental studies of children with dyslexia

The objective of this study was to investigate the phenomenon of learning generalization of a specific skill of auditory temporal processing (temporal order detection) in children with dyslexia. The frequency order discrimination task was applied to children with dyslexia and its effect after training was analyzed in the same trained task and in a different task (duration order discrimination) involving the temporal order discrimination too. During study 1, one group of subjects with dyslexia (N = 12; mean age = 10.9 ± 1.4 years) was trained and compared to a group of untrained dyslexic children (N = 28; mean age = 10.4 ± 2.1 years). In study 2, the performance of a trained dyslexic group (N = 18; mean age = 10.1 ± 2.1 years) was compared at three different times: 2 months before training, at the beginning of training, and at the end of training. Training was carried out for 2 months using a computer program responsible for training frequency ordering skill. In study 1, the trained group showed significant improvement after training only for frequency ordering task compared to the untrained group (P < 0.001). In study 2, the children showed improvement in the last interval in both frequency ordering (P < 0.001) and duration ordering (P = 0.01) tasks. These results showed differences regarding the presence of learning generalization of temporal order detection, since there was generalization of learning in only one of the studies. The presence of methodological differences between the studies, as well as the relationship between trained task and evaluated tasks, are discussed.

Response curves of deterministic and probabilistic cellular automata in one and two dimensions

One of the most important problems in the theory of cellular automata (CA) is determining the proportion of cells in a specific state after a given number of time iterations. We approach this problem using patterns in preimage sets - that is, the set of blocks which iterate to the desired output. This allows us to construct a response curve - a relationship between the proportion of cells in state 1 after niterations as a function of the initial proportion. We derive response curve formulae for many two-dimensional deterministic CA rules with L-neighbourhood. For all remaining rules, we find experimental response curves. We also use preimage sets to classify surjective rules. In the last part of the thesis, we consider a special class of one-dimensional probabilistic CA rules. We find response surface formula for these rules and experimental response surfaces for all remaining rules.

Generalization of the BTK Theory to the Case of Finite Quasiparticle Lifetimes

A generalization to the BTK theory is developed based on the fact that the quasiparticle lifetime is finite as a result of the damping caused by the interactions. For this purpose, appropriate self-energy expressions and wave functions are inserted into the strong coupling version of the Bogoliubov equations and subsequently, the coherence factors are computed. By applying the suitable boundary conditions to the case of a normal-superconducting interface, the probability current densities for the Andreev reflection, the normal reflection, the transmission without branch crossing and the transmission with branch crossing are determined. Accordingly the electric current and the differential conductance curves are calculated numerically for Nb, Pb, and Pb0.9Bi0.1 alloy. The generalization of the BTK theory by including the phenomenological damping parameter is critically examined. The observed differences between our approach and the phenomenological approach are investigated by the numerical analysis.

Probabilistic Assignments of Identical Indivisible Objects and Uniform Probabilistic Rules.

We consider a probabilistic approach to the problem of assigning k indivisible identical objects to a set of agents with single-peaked preferences. Using the ordinal extension of preferences, we characterize the class of uniform probabilistic rules by Pareto efficiency, strategy-proofness, and no-envy. We also show that in this characterization no-envy cannot be replaced by anonymity. When agents are strictly risk averse von-Neumann-Morgenstern utility maximizers, then we reduce the problem of assigning k identical objects to a problem of allocating the amount k of an infinitely divisible commodity.

Macroemesures in Computable General Equilibrium Models: a Probabilistic Treatment with an Application to Morocco.

With the help of an illustrative general equilibrium (CGE) model of the Moroccan Economy, we test for the significance of simulation results in the case where the exact macromesure is not known with certainty. This is done by computing lower and upper bounds for the simulation resukts, given a priori probabilities attached to three possible closures (Classical, Johansen, Keynesian). Our Conclusion is that, when there is uncertainty on closures several endogenous changes lack significance, which, in turn, limit the use of the model for policy prescriptions.

A Generalization of a Theorem of Boyd and Lawton

Ce mémoire s’applique à étudier d’abord, dans la première partie, la mesure de Mahler des polynômes à une seule variable. Il commence en donnant des définitions et quelques résultats pertinents pour le calcul de telle hauteur. Il aborde aussi le sujet de la question de Lehmer, la conjecture la plus célèbre dans le domaine, donne quelques exemples et résultats ayant pour but de résoudre la question. Ensuite, il y a l’extension de la mesure de Mahler sur les polynômes à plusieurs variables, une démarche semblable au premier cas de la mesure de Mahler, et le sujet des points limites avec quelques exemples. Dans la seconde partie, on commence par donner des définitions concernant un ordre supérieur de la mesure de Mahler, et des généralisations en passant des polynômes simples aux polynômes à plusieurs variables. La question de Lehmer existe aussi dans le domaine de la mesure de Mahler supérieure, mais avec des réponses totalement différentes. À la fin, on arrive à notre objectif, qui sera la démonstration de la généralisation d’un théorème de Boyd-Lawton, ce dernier met en évidence une relation entre la mesure de Mahler des polynômes à plusieurs variables avec la limite de la mesure de Mahler des polynômes à une seule variable. Ce résultat a des conséquences en termes de la conjecture de Lehmer et sert à clarifier la relation entre les valeurs de la mesure de Mahler des polynômes à une variable et celles des polynômes à plusieurs variables, qui, en effet, sont très différentes en nature.

Probability Theory. Stochastic Processes And Their Applications Probabilistic Analysis Of Some Queueing And Inventory Models

In this thesis we attempt to make a probabilistic analysis of some physically realizable, though complex, storage and queueing models. It is essentially a mathematical study of the stochastic processes underlying these models. Our aim is to have an improved understanding of the behaviour of such models, that may widen their applicability. Different inventory systems with randon1 lead times, vacation to the server, bulk demands, varying ordering levels, etc. are considered. Also we study some finite and infinite capacity queueing systems with bulk service and vacation to the server and obtain the transient solution in certain cases. Each chapter in the thesis is provided with self introduction and some important references

Face Recognition using Probabilistic Neural Networks

In this paper we address the problem of face detection and recognition of grey scale frontal view images. We propose a face recognition system based on probabilistic neural networks (PNN) architecture. The system is implemented using voronoi/ delaunay tessellations and template matching. Images are segmented successfully into homogeneous regions by virtue of voronoi diagram properties. Face verification is achieved using matching scores computed by correlating edge gradients of reference images. The advantage of classification using PNN models is its short training time. The correlation based template matching guarantees good classification results

Face Recognition using Probabilistic Neural Networks

n this paper we address the problem of face detection and recognition of grey scale frontal view images. We propose a face recognition system based on probabilistic neural networks (PNN) architecture. The system is implemented using voronoi/ delaunay tessellations and template matching. Images are segmented successfully into homogeneous regions by virtue of voronoi diagram properties. Face verification is achieved using matching scores computed by correlating edge gradients of reference images. The advantage of classification using PNN models is its short training time. The correlation based template matching guarantees good classification results.

A generalization of Student’s t-distribution from the viewpoint of special functions

Student’s t-distribution has found various applications in mathematical statistics. One of the main properties of the t-distribution is to converge to the normal distribution as the number of samples tends to infinity. In this paper, by using a Cauchy integral we introduce a generalization of the t-distribution function with four free parameters and show that it converges to the normal distribution again. We provide a comprehensive treatment of mathematical properties of this new distribution. Moreover, since the Fisher F-distribution has a close relationship with the t-distribution, we also introduce a generalization of the F-distribution and prove that it converges to the chi-square distribution as the number of samples tends to infinity. Finally some particular sub-cases of these distributions are considered.

On Probabilistic Strategies for Robot Tasks

Robots must act purposefully and successfully in an uncertain world. Sensory information is inaccurate or noisy, actions may have a range of effects, and the robot's environment is only partially and imprecisely modeled. This thesis introduces active randomization by a robot, both in selecting actions to execute and in focusing on sensory information to interpret, as a basic tool for overcoming uncertainty. An example of randomization is given by the strategy of shaking a bin containing a part in order to orient the part in a desired stable state with some high probability. Another example consists of first using reliable sensory information to bring two parts close together, then relying on short random motions to actually mate the two parts, once the part motions lie below the available sensing resolution. Further examples include tapping parts that are tightly wedged, twirling gears before trying to mesh them, and vibrating parts to facilitate a mating operation.

A Note on the Generalization Performance of Kernel Classifiers with Margin

We present distribution independent bounds on the generalization misclassification performance of a family of kernel classifiers with margin. Support Vector Machine classifiers (SVM) stem out of this class of machines. The bounds are derived through computations of the $V_gamma$ dimension of a family of loss functions where the SVM one belongs to. Bounds that use functions of margin distributions (i.e. functions of the slack variables of SVM) are derived.

Probabilistic Independence Networks for Hidden Markov Probability Models

Graphical techniques for modeling the dependencies of randomvariables have been explored in a variety of different areas includingstatistics, statistical physics, artificial intelligence, speech recognition, image processing, and genetics.Formalisms for manipulating these models have been developedrelatively independently in these research communities. In this paper weexplore hidden Markov models (HMMs) and related structures within the general framework of probabilistic independencenetworks (PINs). The paper contains a self-contained review of the basic principles of PINs.It is shown that the well-known forward-backward (F-B) and Viterbialgorithms for HMMs are special cases of more general inference algorithms forarbitrary PINs. Furthermore, the existence of inference and estimationalgorithms for more general graphical models provides a set of analysistools for HMM practitioners who wish to explore a richer class of HMMstructures.Examples of relatively complex models to handle sensorfusion and coarticulationin speech recognitionare introduced and treated within the graphical model framework toillustrate the advantages of the general approach.