Towards training-free appearance-based localization : probabilistic models for whole-image descriptors

Whole image descriptors have recently been shown to be remarkably robust to perceptual change especially compared to local features. However, whole-image-based localization systems typically rely on heuristic methods for determining appropriate matching thresholds in a particular environment. These environment-specific tuning requirements and the lack of a meaningful interpretation of these arbitrary thresholds limits the general applicability of these systems. In this paper we present a Bayesian model of probability for whole-image descriptors that can be seamlessly integrated into localization systems designed for probabilistic visual input. We demonstrate this method using CAT-Graph, an appearance-based visual localization system originally designed for a FAB-MAP-style probabilistic input. We show that using whole-image descriptors as visual input extends CAT-Graph’s functionality to environments that experience a greater amount of perceptual change. We also present a method of estimating whole-image probability models in an online manner, removing the need for a prior training phase. We show that this online, automated training method can perform comparably to pre-trained, manually tuned local descriptor methods.

Building macroscale models from microscale probabilistic models : a general probabilistic approach for nonlinear diffusion and multispecies phenomena

A discrete agent-based model on a periodic lattice of arbitrary dimension is considered. Agents move to nearest-neighbor sites by a motility mechanism accounting for general interactions, which may include volume exclusion. The partial differential equation describing the average occupancy of the agent population is derived systematically. A diffusion equation arises for all types of interactions and is nonlinear except for the simplest interactions. In addition, multiple species of interacting subpopulations give rise to an advection-diffusion equation for each subpopulation. This work extends and generalizes previous specific results, providing a construction method for determining the transport coefficients in terms of a single conditional transition probability, which depends on the occupancy of sites in an influence region. These coefficients characterize the diffusion of agents in a crowded environment in biological and physical processes.

Probabilistic Seismic Design of Pile Foundations in Non Liquefiable Soil by Response Spectrum Approach

The behavior of pile foundations in non liquefiable soil under seismic loading is considerably influenced by the variability in the soil and seismic design parameters. Hence, probabilistic models for the assessment of seismic pile design are necessary. Deformation of pile foundation in non liquefiable soil is dominated by inertial force from superstructure. The present study considers a pseudo-static approach based on code specified design response spectra. The response of the pile is determined by equivalent cantilever approach. The soil medium is modeled as a one-dimensional random field along the depth. The variability associated with undrained shear strength, design response spectrum ordinate, and superstructure mass is taken into consideration. Monte Carlo simulation technique is adopted to determine the probability of failure and reliability indices based on pile failure modes, namely exceedance of lateral displacement limit and moment capacity. A reliability-based design approach for the free head pile under seismic force is suggested that enables a rational choice of pile design parameters.

Models for the estimation of life of stator insulation in large rotating machines

Epoxy resin bonded mica splitting is the insulation of choice for machine stators. However, this system is seen to be relatively weak under time varying mechanical stress, in particular the vibration causing delamination of mica and deboning of mica from the resin matrix. The situation is accentuated under the combined action of electrical, thermal and mechanical stress. Physical and probabilistic models for failure of such systems have been proposed by one of the authors of this paper earlier. This paper presents a pragmatic accelerated failure data acquisition and analytical paradigm under multi factor coupled stress, Electrical, Thermal. The parameters of the phenomenological model so developed are estimated based on sound statistical treatment of failure data.

Probabilistic Models for Forecasting Earthquakes in the Northeast Region of India

Northeast India and its adjoining areas are characterized by very high seismic activity. According to the Indian seismic code, the region falls under seismic zone V, which represents the highest seismic-hazard level in the country. This region has experienced a number of great earthquakes, such as the Assam (1950) and Shillong (1897) earthquakes, that caused huge devastation in the entire northeast and adjacent areas by flooding, landslides, liquefaction, and damage to roads and buildings. In this study, an attempt has been made to find the probability of occurrence of a major earthquake (M-w > 6) in this region using an updated earthquake catalog collected from different sources. Thereafter, dividing the catalog into six different seismic regions based on different tectonic features and seismogenic factors, the probability of occurrences was estimated using three models: the lognormal, Weibull, and gamma distributions. We calculated the logarithmic probability of the likelihood function (ln L) for all six regions and the entire northeast for all three stochastic models. A higher value of ln L suggests a better model, and a lower value shows a worse model. The results show different model suits for different seismic zones, but the majority follows lognormal, which is better for forecasting magnitude size. According to the results, Weibull shows the highest conditional probabilities among the three models for small as well as large elapsed time T and time intervals t, whereas the lognormal model shows the lowest and the gamma model shows intermediate probabilities. Only for elapsed time T = 0, the lognormal model shows the highest conditional probabilities among the three models at a smaller time interval (t = 3-15 yrs). The opposite result is observed at larger time intervals (t = 15-25 yrs), which show the highest probabilities for the Weibull model. However, based on this study, the IndoBurma Range and Eastern Himalaya show a high probability of occurrence in the 5 yr period 2012-2017 with >90% probability.

Recovery or decline of the Northwestern Black Sea: A societal choice revealed by socio-ecological modelling

During recent decades anthropogenic activities have dramatically impacted the Black Sea ecosystem. High levels of riverine nutrient input during the 1970s and 1980s caused eutrophic conditions including intense algal blooms resulting in hypoxia and the subsequent collapse of benthic habitats on the northwestern shelf. Intense fishing pressure also depleted stocks of many apex predators, contributing to an increase in planktivorous fish that are now the focus of fishing efforts. Additionally, the Black Sea's ecosystem changed even further with the introduction of exotic species. Economic collapse of the surrounding socialist republics in the early 1990s resulted in decreased nutrient loading which has allowed the Black Sea ecosystem to start to recover, but under rapidly changing economic and political conditions, future recovery is uncertain. In this study we use a multidisciplinary approach to integrate information from socio-economic and ecological systems to model the effects of future development scenarios on the marine environment of the northwestern Black Sea shelf. The Driver–Pressure–State-Impact-Response framework was used to construct conceptual models, explicitly mapping impacts of socio-economic Drivers on the marine ecosystem. Bayesian belief networks (BBNs), a stochastic modelling technique, were used to quantify these causal relationships, operationalise models and assess the effects of alternative development paths on the Black Sea ecosystem. BBNs use probabilistic dependencies as a common metric, allowing the integration of quantitative and qualitative information. Under the Baseline Scenario, recovery of the Black Sea appears tenuous as the exploitation of environmental resources (agriculture, fishing and shipping) increases with continued economic development of post-Soviet countries. This results in the loss of wetlands through drainage and reclamation. Water transparency decreases as phytoplankton bloom and this deterioration in water quality leads to the degradation of coastal plant communities (Cystoseira, seagrass) and also Phyllophora habitat on the shelf. Decomposition of benthic plants results in hypoxia killing flora and fauna associated with these habitats. Ecological pressure from these factors along with constant levels of fishing activity results in target stocks remaining depleted. Of the four Alternative Scenarios, two show improvements on the Baseline ecosystem condition, with improved waste water treatment and reduced fishing pressure, while the other two show a worsening, due to increased natural resource exploitation leading to rapid reversal of any recent ecosystem recovery. From this we conclude that variations in economic policy have significant consequences for the health of the Black Sea, and ecosystem recovery is directly linked to social–economic choices.

Probabilistic Models to Describe the Dynamics of Migrating Microbial Communities

In all but the most sterile environments bacteria will reside in fluid being transported through conduits and some of these will attach and grow as biofilms on the conduit walls. The concentration and diversity of bacteria in the fluid at the point of delivery will be a mix of those when it entered the conduit and those that have become entrained into the flow due to seeding from biofilms. Examples include fluids through conduits such as drinking water pipe networks, endotracheal tubes, catheters and ventilation systems. Here we present two probabilistic models to describe changes in the composition of bulk fluid microbial communities as they are transported through a conduit whilst exposed to biofilm communities. The first (discrete) model simulates absolute numbers of individual cells, whereas the other (continuous) model simulates the relative abundance of taxa in the bulk fluid. The discrete model is founded on a birth-death process whereby the community changes one individual at a time and the numbers of cells in the system can vary. The continuous model is a stochastic differential equation derived from the discrete model and can also accommodate changes in the carrying capacity of the bulk fluid. These models provide a novel Lagrangian framework to investigate and predict the dynamics of migrating microbial communities. In this paper we compare the two models, discuss their merits, possible applications and present simulation results in the context of drinking water distribution systems. Our results provide novel insight into the effects of stochastic dynamics on the composition of non-stationary microbial communities that are exposed to biofilms and provides a new avenue for modelling microbial dynamics in systems where fluids are being transported.