Search results for "Computer and Information Science"
showing 10 items of 1335 documents
Distributed and proximity-constrained C-means for discrete coverage control
2018
In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or environmental landmarks. The proposed algorithm is inspired by C-Means, an unsupervised learning algorithm originally proposed for non-exclusive clustering and for identification of cluster centroids from a set of observations. To cope with the agents' limited sensing range and avoid infeasible coverage solutions, traditional C-Means needs to be enhanced with proximity constraints, ensuring that each agent takes into account only neighboring PoIs. The proposed co…
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
2012
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also de…
P2D: a self-supervised method for depth estimation from polarimetry
2021
Monocular depth estimation is a recurring subject in the field of computer vision. Its ability to describe scenes via a depth map while reducing the constraints related to the formulation of perspective geometry tends to favor its use. However, despite the constant improvement of algorithms, most methods exploit only colorimetric information. Consequently, robustness to events to which the modality is not sensitive to, like specularity or transparency, is neglected. In response to this phenomenon, we propose using polarimetry as an input for a self-supervised monodepth network. Therefore, we propose exploiting polarization cues to encourage accurate reconstruction of scenes. Furthermore, we…
Optimizing colormaps with consideration for color vision deficiency to enable accurate interpretation of scientific data
2018
Color vision deficiency (CVD) affects more than 4% of the population and leads to a different visual perception of colors. Though this has been known for decades, colormaps with many colors across the visual spectra are often used to represent data, leading to the potential for misinterpretation or difficulty with interpretation by someone with this deficiency. Until the creation of the module presented here, there were no colormaps mathematically optimized for CVD using modern color appearance models. While there have been some attempts to make aesthetically pleasing or subjectively tolerable colormaps for those with CVD, our goal was to make optimized colormaps for the most accurate perce…
AnySeq: A High Performance Sequence Alignment Library based on Partial Evaluation
2020
Sequence alignments are fundamental to bioinformatics which has resulted in a variety of optimized implementations. Unfortunately, the vast majority of them are hand-tuned and specific to certain architectures and execution models. This not only makes them challenging to understand and extend, but also difficult to port to other platforms. We present AnySeq - a novel library for computing different types of pairwise alignments of DNA sequences. Our approach combines high performance with an intuitively understandable implementation, which is achieved through the concept of partial evaluation. Using the AnyDSL compiler framework, AnySeq enables the compilation of algorithmic variants that ar…
On the use of approximate Bayesian computation Markov chain Monte Carlo with inflated tolerance and post-correction
2020
Approximate Bayesian computation allows for inference of complicated probabilistic models with intractable likelihoods using model simulations. The Markov chain Monte Carlo implementation of approximate Bayesian computation is often sensitive to the tolerance parameter: low tolerance leads to poor mixing and large tolerance entails excess bias. We consider an approach using a relatively large tolerance for the Markov chain Monte Carlo sampler to ensure its sufficient mixing, and post-processing the output leading to estimators for a range of finer tolerances. We introduce an approximate confidence interval for the related post-corrected estimators, and propose an adaptive approximate Bayesi…
On the interpretability and computational reliability of frequency-domain Granger causality
2017
This Correspondence article is a comment which directly relates to the paper “A study of problems encountered in Granger causality analysis from a neuroscience perspective” (Stokes and Purdon, 2017). We agree that interpretation issues of Granger causality (GC) in neuroscience exist, partially due to the historically unfortunate use of the name “causality”, as described in previous literature. On the other hand, we think that Stokes and Purdon use a formulation of GC which is outdated (albeit still used) and do not fully account for the potential of the different frequency-domain versions of GC; in doing so, their paper dismisses GC measures based on a suboptimal use of them. Furthermore, s…
Finding optimal finite biological sequences over finite alphabets: the OptiFin toolbox
2017
International audience; In this paper, we present a toolbox for a specific optimization problem that frequently arises in bioinformatics or genomics. In this specific optimisation problem, the state space is a set of words of specified length over a finite alphabet. To each word is associated a score. The overall objective is to find the words which have the lowest possible score. This type of general optimization problem is encountered in e.g 3D conformation optimisation for protein structure prediction, or largest core genes subset discovery based on best supported phylogenetic tree for a set of species. In order to solve this problem, we propose a toolbox that can be easily launched usin…
HUMAN: Hierarchical Universal Modular ANnotator
2020
A lot of real-world phenomena are complex and cannot be captured by single task annotations. This causes a need for subsequent annotations, with interdependent questions and answers describing the nature of the subject at hand. Even in the case a phenomenon is easily captured by a single task, the high specialisation of most annotation tools can result in having to switch to another tool if the task only slightly changes. We introduce HUMAN, a novel web-based annotation tool that addresses the above problems by a) covering a variety of annotation tasks on both textual and image data, and b) the usage of an internal deterministic state machine, allowing the researcher to chain different anno…
Implementing Ethics in AI: Initial Results of an Industrial Multiple Case Study
2019
Artificial intelligence (AI) is becoming increasingly widespread in system development endeavors. As AI systems affect various stakeholders due to their unique nature, the growing influence of these systems calls for ethical considerations. Academic discussion and practical examples of autonomous system failures have highlighted the need for implementing ethics in software development. However, research on methods and tools for implementing ethics into AI system design and development in practice is still lacking. This paper begins to address this focal problem by providing elements needed for producing a baseline for ethics in AI based software development. We do so by means of an industri…