Fault Estimation for a Quad-Rotor MAV Using a Polynomial Observer

This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini air vehicle (MAV). Actuator faults are considered on this paper. The basic idea behind the proposed method is to estimate the faults signals using the extended state observers theory. To estimate the faults, a polynomial observer (Aguilar et al. 2011; Mata-Machuca et al., Commun Nonlinear Sci Numer Simul 15(12):4114–4130, 2010, BioSystems 100(1):65–69, 2010) is presented by using the available measurements and know inputs of the system. In order to investigate the diagnosability properties of the system, a differential algebra approach is proposed (Cruz-Victoria et al., J Frankl Inst 345(2):102–118, 2008; and Martinez-Guerra and Diop, IEE P-Contr Theor Ap 151(1):130–135, 2004). The effectiveness of the methodology is illustrated by means of numerical simulations.     

Time limitations and geometrical parameters in the design of microfluidic comparators

The ability to control the flow of particles (e.g., droplets and cells) in microfluidic environments can enable new methods for synthesis of biomaterials (Mann and Ozin in Nature 382:313–318, 1996), biocharacterization, and medical diagnosis (Pipper et al. in Nat Med 13:1259–1263, 2007). Understanding the factors that affect the particle passage can improve the control over the particles’ flow through microchannels (Vanapalli et al. in Lab Chip 9:982, 2009). The first step to understand the particle passage is to measure the resulting flow rate, induced pressure drop across the channel, and other parameters. Flow rates and pressure drops during passage of a particle through microchannels are typically measured using microfluidic comparators. Since the first microfluidic comparators were reported, a few design factors have been explored experimentally and theoretically, e.g., sensitivity (Vanapalli et al. in Appl Phys Lett 90:114109, 2007). Nevertheless, there is still a gap in the understanding of the temporal and spatial resolution limits of microfluidic comparators. Here we explore, theoretically and experimentally, the factors that affect the spatial and temporal resolution. We determined that the comparator sensitivity is defined by the device geometry adjacent and upstream the measuring point in the comparator. Further, we determined that, in order of importance, the temporal resolution is limited by the convective timescale, capacitive timescale due to channel expansion, and unsteady timescale due to the flow inertia. Finally, we explored the flow velocity limits by characterizing the transition between low to moderate Reynolds numbers (Re <<1 to Re ~ 50). The present work can guide the design of microfluidic comparators and clarify the limits of this technique.     

A new spatial IP assignment method for IP-based wireless sensor networks

Wireless sensor networks (WSNs), one of the commercial wireless mesh networks (WMNs), are envisioned to provide an effective solution for sensor-based AmI (Ambient Intelligence) systems and applications. To enable the communications between AmI sensor networks and the most popular TCP/IP networks seamlessly, the best solution model is to run TCP/IP directly on WSNs (Mulligan et al. 2009; Hui and Culler 2008; Han and Mam 2007; Kim et al. 2007; Xiaohua et al. 2004; Dunkels et al. 2004; Dunkels et al. 2004; Dunkels 2001; Dunkels et al. 2004). In this case, an IP assignment method is required to assign each sensor node a unique IP address. SIPA (Dunkels et al. 2004) is the best known IP assignment method that uses spatial relations and locations of sensor nodes to assign their IP addresses. It has been applied in Contiki (Dunkels et al. 2004), a famous WSN operating system, to support the 6LowPAN protocol. In Chang et al. (2009), we proposed the SLIPA (Scan-Line IP Assignment) algorithm to improve the assignment success rate (ASR) obtained by SIPA. SLIPA can achieve a good ASR when sensor nodes are uniformly distributed. However, if sensor nodes are deployed by other distributions, the improvements would be limited. This paper proposes a new spatial IP assignment method, called SLIPA-Q (SLIPA with equal-quantity partition), to improve SLIPA. Experiments show that, by testing the proposed method 1,000 times with 1,000 randomly deployed sensor nodes, the average ASR obtained by SLIPA-Q is over two times of that obtained by SLIPA. Under the same 88% ASR, the average numbers of sensor nodes those can be successfully assigned by SLIPA-Q, SLIPA, and SIPA are 950, 850, and 135, respectively. Comparing to previous spatial IP assignment methods, SLIPA-Q can achieve dramatic improvements in ASR for assigning IP addresses to a large set of sensor nodes.     

Some types of filters in residuated lattices

In this paper, inspired by some types of $BL$ -algebra filters (deductive systems) introduced in Haveshki et al. (Soft Comput 10:657–664, 2006), Kondo and Dudek (Soft Comput 12:419–423, 2008) and Turunen (Arch Math Log 40:467–473, 2001), we defined residuated lattice versions of them and study them in connection with Van Gasse et al. (Inf Sci 180(16):3006–3020, 2010), Lianzhen and Kaitai (Inf Sci 177:5725–5738, 2007), Zhu and Xu (Inf Sci 180:3614–3632, 2010). Also we consider some relations between these filters and quotient residuated lattice that are constructed via these filters.     

Analytic expressions of quantum correlations in qutrit Werner states

Quantum correlations in qutrit Werner states are extensively investigated with five popular methods, namely, original quantum discord (OQD) (Ollivier and Zurek in Phys Rev Lett 88:017901, 2001), measurement-induced disturbance (MID) (Luo in Phys Rev A 77:022301, 2008), ameliorated MID (AMID) (Girolami et al. in J Phys A Math Theor 44:352002, 2011), relative entropy (RE) (Modi et al. in Phys Rev Lett 104:080501, 2010) and geometric discord (GD) (Daki? et al. in Phys Rev Lett 105:190502, 2010). Two different analytic expressions of quantum correlations are derived. Quantum correlations captured by the former four methods are same and bigger than those obtained via the GD method. Nonetheless, they all qualitatively characterize quantum correlations in the concerned states. Moreover, as same as the qubit case, there exist quantum correlations in separable qutrit Werner states, too.     

Fast Phylogeny Reconstruction Through Learning of Ancestral Sequences

Given natural limitations on the length DNA sequences, designing phylogenetic reconstruction methods which are reliable under limited information is a crucial endeavor. There have been two approaches to this problem: reconstructing partial but reliable information about the tree (Mossel in IEEE Comput. Biol. Bioinform. 4:108–116, 2007; Daskalakis et al. in SIAM J. Discrete Math. 25:872–893, 2011; Daskalakis et al. in Proc. of RECOMB 2006, pp. 281–295, 2006; Gronau et al. in Proc. of the 19th Annual SODA 2008, pp. 379–388, 2008), and reaching “deeper” in the tree through reconstruction of ancestral sequences. In the latter category, Daskalakis et al. (Proc. of the 38th Annual STOC, pp. 159–168, 2006) settled an important conjecture of M. Steel (My favourite conjecture. Preprint, 2001), showing that, under the CFN model of evolution, all trees on n leaves with edge lengths bounded by the Ising model phase transition can be recovered with high probability from genomes of length O(logn) with a polynomial time algorithm. Their methods had a running time of O(n ¹⁰). Here we enhance our methods from Daskalakis et al. (Proc. of RECOMB 2006, pp. 281–295, 2006) with the learning of ancestral sequences and provide an algorithm for reconstructing a sub-forest of the tree which is reliable given available data, without requiring a-priori known bounds on the edge lengths of the tree. Our methods are based on an intuitive minimum spanning tree approach and run in O(n ³) time. For the case of full reconstruction of trees with edges under the phase transition, we maintain the same asymptotic sequence length requirements as in Daskalakis et al. (Proc. of the 38th Annual STOC, pp. 159–168, 2006), despite the considerably faster running time.     

On anonymizing transactions with sensitive items

K-anonymity (Samarati and Sweeny 1998; Samarati, IEEE Trans Knowl Data Eng, 13(6):1010–1027, 2001; Sweeny, Int J Uncertain, Fuzziness Knowl-Based Syst, 10(5):557–570, 2002) and its variants, l-diversity (Machanavajjhala et al., ACM TKDD, 2007) and tcloseness (Li et al. 2007) among others are anonymization techniques for relational data and transaction data, which are used to protect privacy against re-identification attacks. A relational dataset D is k-anonymous if every record in D has at least k-1 other records with identical quasi-identifier attribute values. The combination of released data with external data will never allow the recipient to associate each released record with less than k individuals (Samarati, IEEE Trans Knowl Data Eng, 13(6):1010–1027, 2001). However, the current concept of k-anonymity on transaction data treats all items as quasi-identifiers. The anonymized data set has k identical transactions in groups and suffers from lower data utility (He and Naughton 2009; He et al. 2011; Liu and Wang 2010; Terrovitis et al., VLDB J, 20(1):83–106, 2011; Terrovitis et al. 2008). To improve the utility of anonymized transaction data, this work proposes a novel anonymity concept on transaction data that contain both quasi-identifier items (QID) and sensitive items (SI). A transaction that contains sensitive items must have at least k-1 other identical transactions (Ghinita et al. IEEE TKDE, 33(2):161–174, 2011; Xu et al. 2008). For a transaction that does not contain a sensitive item, no anonymization is required. A transaction dataset that satisfies this property is said to be sensitive k-anonymous. Three algorithms, Sensitive Transaction Neighbors (STN) Gray Sort Clustering (GSC) and Nearest Neighbors for K-anonymization (K-NN), are developed. These algorithms use adding/deleting QID items and only adding SI to achieve sensitive k-anonymity on transaction data. Additionally, a simple “privacy value” is proposed to evaluate the degree of privacy for different types of k-anonymity on transaction data. Extensive numerical simulations were carried out to demonstrate the characteristics of the proposed algorithms and also compared to other types of k-anonymity approaches. The results show that each technique possesses its own advantage under different criteria such as running time, operation, and information loss. The results obtained here can be used as a guideline of the selection of anonymization technique on different data sets and for different applications.     

Technical, legal and ethical dilemmas: distinguishing risks arising from malware and cyber-attack tools in the ‘cloud’—a forensic computing perspective

While hype around the benefits of ‘cloud computing’increase, challenges in maintaining data security and data privacy have also been recognised as significant vulnerabilities (Ristenpart et al. in Proceedings of the 14th ACM conference on computer and communications security, pp 103–115, 2009; Pearson in CLOUD’09, pp 44–52, 2009; Vouk in J Comput Inf Technol 4:235–246, 2008). These vulnerabilities generate a range of questions relating to the capacity of organisations relying on cloud solutions to effectively manage risk. This has become particularly the case as the threats faced by organisations have moved increasingly away from indiscriminate malware to more targeted cyber-attack tools. From forensic computing perspective it has also been recognised that ‘cloud solutions’ pose additional challenges for forensic computing specialists including discoverability and chain of evidence (Ruan et al. in Adv Digital Forensics VII:35–46, 2011; Reilly et al. in Int J Multimedia Image Process 1:26–34, 2011). However, to date there has been little consideration of how the differences between indiscriminate malware and targeted cyber-attack tools further problematize the capacity of organisations to manage risk. This paper also considers these risks and differentiates between technical, legal and ethical dilemmas posed. The paper also highlights the need for organisations to be aware of these issues when deciding to move to cloud solutions.     

Comparison Between Reduced Basis and Stochastic Collocation Methods for Elliptic Problems

The stochastic collocation method (Babu?ka et al. in SIAM J Numer Anal 45(3):1005–1034, 2007; Nobile et al. in SIAM J Numer Anal 46(5):2411–2442, 2008a; SIAM J Numer Anal 46(5):2309–2345, 2008b; Xiu and Hesthaven in SIAM J Sci Comput 27(3):1118–1139, 2005) has recently been applied to stochastic problems that can be transformed into parametric systems. Meanwhile, the reduced basis method (Maday et al. in Comptes Rendus Mathematique 335(3):289–294, 2002; Patera and Rozza in Reduced basis approximation and a posteriori error estimation for parametrized partial differential equations Version 1.0. Copyright MIT, http://augustine.mit.edu, 2007; Rozza et al. in Arch Comput Methods Eng 15(3):229–275, 2008), primarily developed for solving parametric systems, has been recently used to deal with stochastic problems (Boyaval et al. in Comput Methods Appl Mech Eng 198(41–44):3187–3206, 2009; Arch Comput Methods Eng 17:435–454, 2010). In this work, we aim at comparing the performance of the two methods when applied to the solution of linear stochastic elliptic problems. Two important comparison criteria are considered: (1), convergence results of the approximation error; (2), computational costs for both offline construction and online evaluation. Numerical experiments are performed for problems from low dimensions $O(1)$ to moderate dimensions $O(10)$ and to high dimensions $O(100)$ . The main result stemming from our comparison is that the reduced basis method converges better in theory and faster in practice than the stochastic collocation method for smooth problems, and is more suitable for large scale and high dimensional stochastic problems when considering computational costs.     

Oscillations in light-triggered logic microfluidic circuit

Control of droplets in microfluidic environments has numerous applications ranging from analysis and sample preparation for biomaterials synthesis (Mann and Ozin Nature 382:313–318, 1996) and medical diagnostics (Pipper et al. Nat Med 13:1259–1263, 2007) to photonics (Schmidt and Hawkins Nat Photonics 5:598–604, 2011). Here we study the oscillations present in a microfluidic circuit capable of sorting curable droplets on demand by triggering the circuit with UV-light. Prior to this paper we showed that a simple circuit can self-sort particles and produce a binary output, sorted or rejected stream of particles, based on the hydrodynamic resistance induced by the particles as they flow through the microfluidic channels. We showed that the cross-linking of droplets can modulate the resistance, and demonstrated particle switching by sorting of otherwise identical droplets of uncured and cured photocurable solution immersed in mineral oil solution. Before arriving at the sorting circuit, droplets made of a photocurable solution were illuminated by a UV-light from a mercury lamp, curing them. By tuning the outlet pressures, the switching threshold could be tuned so that uncured droplets were rejected while cured droplets were switched (Raafat et al. μTAS Proc 1826–1828, 2010; Cartas-Ayala et al. Small 9:375–381, 2013). Here we use this system to study the oscillations in this circuit due to particle–particle interactions in the circuit. The circuit oscillation can be used as a counter with a light ON/OFF switch. The circuit behavior agrees well with theoretical predictions of droplet oscillations. Furthermore, the circuit oscillations can be switched on or off by UV-light illumination. This experiment demonstrates switching of particles based on deformability, illustrates the switching of particles by using light, and the possibility of creating new managing schemes for droplets by combining light control with droplet generation-rate control.     

An Efficient Algorithm for ℓ 0 Minimization in Wavelet Frame Based Image Restoration

Wavelet frame based models for image restoration have been extensively studied for the past decade (Chan et al. in SIAM J. Sci. Comput. 24(4):1408–1432, 2003; Cai et al. in Multiscale Model. Simul. 8(2):337–369, 2009; Elad et al. in Appl. Comput. Harmon. Anal. 19(3):340–358, 2005; Starck et al. in IEEE Trans. Image Process. 14(10):1570–1582, 2005; Shen in Proceedings of the international congress of mathematicians, vol. 4, pp. 2834–2863, 2010; Dong and Shen in IAS lecture notes series, Summer program on “The mathematics of image processing”, Park City Mathematics Institute, 2010). The success of wavelet frames in image restoration is mainly due to their capability of sparsely approximating piecewise smooth functions like images. Most of the wavelet frame based models designed in the past are based on the penalization of the ? ₁ norm of wavelet frame coefficients, which, under certain conditions, is the right choice, as supported by theories of compressed sensing (Candes et al. in Appl. Comput. Harmon. Anal., 2010; Candes et al. in IEEE Trans. Inf. Theory 52(2):489–509, 2006; Donoho in IEEE Trans. Inf. Theory 52:1289–1306, 2006). However, the assumptions of compressed sensing may not be satisfied in practice (e.g. for image deblurring and CT image reconstruction). Recently in Zhang et al. (UCLA CAM Report, vol. 11-32, 2011), the authors propose to penalize the ? ₀ “norm” of the wavelet frame coefficients instead, and they have demonstrated significant improvements of their method over some commonly used ? ₁ minimization models in terms of quality of the recovered images. In this paper, we propose a new algorithm, called the mean doubly augmented Lagrangian (MDAL) method, for ? ₀ minimizations based on the classical doubly augmented Lagrangian (DAL) method (Rockafellar in Math. Oper. Res. 97–116, 1976). Our numerical experiments show that the proposed MDAL method is not only more efficient than the method proposed by Zhang et al. (UCLA CAM Report, vol. 11-32, 2011), but can also generate recovered images with even higher quality. This study reassures the feasibility of using the ? ₀ “norm” for image restoration problems.     

Quantity-based buffer-constrained two-machine flowshop problem: active and passive prefetch models for multimedia applications

Conventional studies on buffer-constrained flowshop scheduling problems have considered applications with a limitation on the number of jobs that are allowed in the intermediate storage buffer before flowing to the next machine. The study in Lin et al. (Comput. Oper. Res. 36(4):1158?C1175, 2008a) considered a two-machine flowshop problem with ??processing time-dependent?? buffer constraints for multimedia applications. A???passive?? prefetch model (the PP-problem), in which the download process is suspended unless the buffer is sufficient for keeping an incoming media object, was applied in Lin et al. (Comput. Oper. Res. 36(4):1158?C1175, 2008a). This study further considers an ??active?? prefetch model (the AP-problem) that exploits the unoccupied buffer space by advancing the download of the incoming object by a computed maximal duration that possibly does not cause a buffer overflow. We obtain new complexity results for both problems. This study also proposes a new lower bound which improves the branch and bound algorithm presented in Lin et al. (Comput. Oper. Res. 36(4):1158?C1175, 2008a). For the PP-problem, compared to the lower bounds developed in Lin et al. (Comput. Oper. Res. 36(4):1158?C1175, 2008a), on average, the results of the simulation experiments show that the proposed new lower bound cuts about 38% of the nodes and 32% of the execution time for searching the optimal solutions.     

pth Moment Exponential Stability of Stochastic Recurrent Neural Networks with Markovian Switching

This paper investigates the problem of the pth moment exponential stability for a class of stochastic recurrent neural networks with Markovian jump parameters. With the help of Lyapunov function, stochastic analysis technique, generalized Halanay inequality and Hardy inequality, some novel sufficient conditions on the pth moment exponential stability of the considered system are derived. The results obtained in this paper are completely new and complement and improve some of the previously known results (Liao and Mao, Stoch Anal Appl, 14:165–185, 1996; Wan and Sun, Phys Lett A, 343:306–318, 2005; Hu et al., Chao Solitions Fractals, 27:1006–1010, 2006; Sun and Cao, Nonlinear Anal Real, 8:1171–1185, 2007; Huang et al., Inf Sci, 178:2194–2203, 2008; Wang et al., Phys Lett A, 356:346–352, 2006; Peng and Liu, Neural Comput Appl, 20:543–547, 2011). Moreover, a numerical example is also provided to demonstrate the effectiveness and applicability of the theoretical results.     

On sunflowers and matrix multiplication

We present several variants of the sunflower conjecture of Erd?s & Rado (J Lond Math Soc 35:85–90, 1960) and discuss the relations among them. We then show that two of these conjectures (if true) imply negative answers to the questions of Coppersmith & Winograd (J Symb Comput 9:251–280, 1990) and Cohn et al. (2005) regarding possible approaches for obtaining fast matrix-multiplication algorithms. Specifically, we show that the Erd?s–Rado sunflower conjecture (if true) implies a negative answer to the “no three disjoint equivoluminous subsets” question of Coppersmith & Winograd (J Symb Comput 9:251–280, 1990); we also formulate a “multicolored” sunflower conjecture in ${\mathbb{Z}_3^n}$ and show that (if true) it implies a negative answer to the “strong USP” conjecture of Cohn et al. (2005) (although it does not seem to impact a second conjecture in Cohn et al. (2005) or the viability of the general group-theoretic approach). A surprising consequence of our results is that the Coppersmith–Winograd conjecture actually implies the Cohn et al. conjecture. The multicolored sunflower conjecture in ${\mathbb{Z}_3^n}$ is a strengthening of the well-known (ordinary) sunflower conjecture in ${\mathbb{Z}_3^n}$ , and we show via our connection that a construction from Cohn et al. (2005) yields a lower bound of (2.51 . . .) ⁿ on the size of the largest multicolored 3-sunflower-free set, which beats the current best-known lower bound of (2.21 . . . ) ⁿ Edel (2004) on the size of the largest 3-sunflower-free set in ${\mathbb{Z}_3^n}$ .     

Weights Design For Maximal Order WENO Schemes

Weighted essentially non-oscillatory (WENO) finite difference schemes, developed by Liu et al. (Comput Phys 115(1):200–212, 1994) and improved by Jiang and Shu (Comput Phys 126(1):202–228, 1996), are one of the most popular methods to approximate the solutions of hyperbolic equations. But these schemes fail to provide maximal order accuracy near smooth extrema, where the first derivative of the solution becomes zero. Some authors have addressed this problem with different weight designs. In this paper we focus on the weights proposed by Yamaleev and Carpenter (J Comput Phys 228:4248–4272, 2009). They propose new weights to provide faster weight convergence than those presented in Borges et al. (J Comput Phys 227:3191–3211, 2008) and deduce some constraints on the weights parameters to guarantee that the WENO scheme has maximal order for sufficiently smooth solutions with an arbitrary number of vanishing derivatives. We analyze the scheme with the weights proposed in Yamaleev and Carpenter (J Comput Phys 228:4248–4272, 2009) and prove that near discontinuities it achieves worse orders than classical WENO schemes. In order to solve these accuracy problems, we define new weights, based on those proposed in Yamaleev and Carpenter (J Comput Phys 228:4248–4272, 2009), and get some constraints on the weights parameters to guarantee maximal order accuracy for the resulting schemes.     

Robust grasping under object pose uncertainty

This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object of known shape, such as grasping for assembly or tool use. The decision process is applied to a robot hand with tactile sensors, to localize the object on a table and ultimately achieve a target placement by selecting among a parameterized set of grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot. This work has been previously presented in Hsiao et al. (Workshop on Algorithmic Foundations of Robotics (WAFR), 2008; Robotics Science and Systems (RSS), 2010) and Hsiao (Relatively robust grasping, Ph.D. thesis, Massachusetts Institute of Technology, 2009).     

Functional un|unparsing

Danvy??s functional unparsing problem (Danvy in J. Funct. Program. 8(6), 621?C625, 1998) is to implement a type-safe ??printf?? function, which converts a sequence of heterogeneous arguments to a string according to a given format. The dual problem is to implement a type-safe ??scanf?? function, which extracts a sequence of heterogeneous arguments from a string by interpreting (Friedman and Wand in LFP, pp. 348?C355, 1984 and in Essentials of Programming Languages, MIT Press, 2008) the same format as an equally heterogeneous sequence of patterns that binds zero or more variables. We derive multiple solutions to both problems (Wand in J. ACM 27(1), 164?C180, 1980) from their formal specifications (Wand in Theor. Comput. Sci. 20(1), 3?C32, 1982). On one hand, our solutions show how the Hindley-Milner type system, unextended, permits accessing heterogeneous sequences with the static assurance of type safety. On the other hand, our solutions demonstrate the use of control operators (Felleisen et al. in Proceedings of the 1988 ACM Conference on Lisp and Functional Programming, pp. 52?C62, ACM Press, New York, 1988; Wand in POPL 85: Conference Record of the Annual ACM Symposium on Principles of Programming Languages, vol. 16, ACM Press, New York, 1985; Meyer and Wand in Logics of Programs, Lecture Notes in Computer Science, vol. 193, pp. 219?C224, Springer, Berlin, 1985) to communicate with formats as coroutines (Wand in Proceedings of the 1980 ACM Conference on Lisp and Functional Programming, vol. 12, pp. 285?C299, ACM Press, New York, 1980 and Haynes et al. in LFP, pp. 293?C298, 1984).     

Fabrication of the cyclical fluid channel using the surface acoustic wave actuator and continuous fluid pumping in the cyclical fluid channel

A surface acoustic wave (SAW) device has been reported as a micro fluid device such as a pump of a water droplet so far (Renaudin et al. in μTAS, pp 599–601, 2004, 1:551–553, 2005; Sritharan et al. in Appl Phys Lett 88:054102, 2006; Wixforth in Anal Bioanal Chem 379:982–991, 2004; Yamamoto et al. in μTAS, pp 1072–1074, 2005). The SAW device is an interdigital transducer (IDT) fabricated on the piezoelectric substrate only. IDTs are advantageous in terms of integration, miniaturization, free position setting on the substrate and simple fabrication process because of their simple structure. Therefore, the SAW device is easy to apply to integrated chemical system such as lab-on-a-chip. The SAW drives the liquid homogenously by the transmission of surface vibrations of the substrate. Thus, both ends of the channel for pressure loading are not necessary to pump the liquid by using the SAW. The SAW can pump the liquid in both of a closed channel and an opened channel, although continuous flow pumping using an external pump is difficult for no loading pressure in the closed fluid channel. In this paper, we proposed and fabricated the micro fluid devices combined cyclical fluid channel and SAW actuator for liquid pumping. This device is fabricated on a piezoelectric substrate (LiNbO₃) with UV photolithography and wet etching. Structure material of cyclical fluid channel is epoxy photoresist SU-8 100. Then, it is demonstrated to continuous flow pumping and reciprocal flow pumping in the channel. As a result of optimization of a SAW pump’s structural parameter, 32.5, 71.3 and 108.0 mm/s are achieved in the 500, 1,000 and 2,000 μm channel width as a maximum flow velocity.     

Activity representation with motion hierarchies

Complex activities, e.g. pole vaulting, are composed of a variable number of sub-events connected by complex spatio-temporal relations, whereas simple actions can be represented as sequences of short temporal parts. In this paper, we learn hierarchical representations of activity videos in an unsupervised manner. These hierarchies of mid-level motion components are data-driven decompositions specific to each video. We introduce a spectral divisive clustering algorithm to efficiently extract a hierarchy over a large number of tracklets (i.e. local trajectories). We use this structure to represent a video as an unordered binary tree. We model this tree using nested histograms of local motion features. We provide an efficient positive definite kernel that computes the structural and visual similarity of two hierarchical decompositions by relying on models of their parent–child relations. We present experimental results on four recent challenging benchmarks: the High Five dataset (Patron-Perez et al., High five: recognising human interactions in TV shows, 2010), the Olympics Sports dataset (Niebles et al., Modeling temporal structure of decomposable motion segments for activity classification, 2010), the Hollywood 2 dataset (Marszalek et al., Actions in context, 2009), and the HMDB dataset (Kuehne et al., HMDB: A large video database for human motion recognition, 2011). We show that per-video hierarchies provide additional information for activity recognition. Our approach improves over unstructured activity models, baselines using other motion decomposition algorithms, and the state of the art.