Using In-frame Shear Constraints for Monocular Motion Segmentation of Rigid Bodies

It is a well known result in the vision literature that the motion of independently moving objects viewed by an affine camera lie on affine subspaces of dimension four or less. As a result a large number of the recently proposed motion segmentation algorithms model the problem as one of clustering the trajectory data to its corresponding affine subspace. While these algorithms are elegant in formulation and achieve near perfect results on benchmark datasets, they fail to address certain very key real-world challenges, including perspective effects and motion degeneracies. Within a robotics and autonomous vehicle setting, the relative configuration of the robot and moving object will frequently be degenerate leading to a failure of subspace clustering algorithms. On the other hand, while gestalt-inspired motion similarity algorithms have been used for motion segmentation, in the moving camera case, they tend to over-segment or under-segment the scene based on their parameter values. In this paper we present a principled approach that incorporates the strengths of both approaches into a cohesive motion segmentation algorithm capable of dealing with the degenerate cases, where camera motion follows that of the moving object. We first generate a set of prospective motion models for the various moving and stationary objects in the video sequence by a RANSAC-like procedure. Then, we incorporate affine and long-term gestalt-inspired motion similarity constraints, into a multi-label Markov Random Field (MRF). Its inference leads to an over-segmentation, where each label belongs to a particular moving object or the background. This is followed by a model selection step where we merge clusters based on a novel motion coherence constraint, we call in-frame shear, that tracks the in-frame change in orientation and distance between the clusters, leading to the final segmentation. This oversegmentation is deliberate and necessary, allowing us to assess the relative motion between the motion models which we believe to be essential in dealing with degenerate motion scenarios.We present results on the Hopkins-155 benchmark motion segmentation dataset [27], as well as several on-road scenes where camera and object motion are near identical. We show that our algorithm is competitive with the state-of-the-art algorithms on [27] and exceeds them substantially on the more realistic on-road sequences.     

Electronic Contracts

As service-oriented computing increases, so does the role of e-contracts in helping business partners automate contractual agreements and relationships. The key challenge is to translate traditional contracts into executable e-contracts in a way that facilitates runtime monitoring and management. As research in this area progresses, organizations will have different approaches for modeling, implementing, and managing e-contracts. For now, developers must contend with several key research issues and challenges.     

Modified neo-fuzzy neuron-based approach for economic and environmental optimal power dispatch

At the central energy management center in a power system, the real time controls continuously track the load changes and endeavor to match the total power demand with total generation in such a manner that the operating cost is minimized while all the operating constraints are satisfied. However, due to the strict government regulations on environmental protection, operation at minimum cost is no longer the only criterion for dispatching electrical power. The idea behind the environmentally constrained economic dispatch formulation is to estimate the optimal generation schedule of generating units in such a manner that fuel cost and harmful emission levels are both simultaneously minimized for a given load demand. Conventional optimization techniques become very time consuming and computationally extensive for such complex optimization tasks. These methods are hence not suitable for on-line use. Neural networks and fuzzy systems can be trained to generate accurate relations among variables in complex non-linear dynamical environment, as both are model-free estimators. The existing synergy between these two fields has been exploited in this paper for solving the economic and environmental dispatch problem on-line. A multi-output modified neo-fuzzy neuron (NFN), capable of real time training is proposed for economic and environmental power generation allocation.This model is found to achieve accurate results and the training is observed to be faster than other popular neural networks. The proposed method has been tested on medium-sized sample power systems with three and six generating units and found to be suitable for on-line combined environmental economic dispatch (CEED).     

The Term Vector Database: fast access to indexing terms for Web pages

We have built a database that provides term vector information for large numbers of pages (hundreds of millions). The basic operation of the database is to take URLs and return term vectors. Compared to computing vectors by downloading pages via HTTP, the Term Vector Database is several orders of magnitude faster, enabling a large class of applications that would be impractical without such a database. This paper describes the Term Vector Database in detail. It also reports on two applications built on top of the database. The first application is an optimization of connectivity-based topic distillation. The second application is a Web page classifier used to annotate results returned by a Web search engine.     

A learning automata-based fault-tolerant routing algorithm for mobile ad hoc networks

Reliable routing of packets in a Mobile Ad Hoc Network (MANET) has always been a major concern. The open medium and the susceptibility of the nodes of being fault-prone make the design of protocols for these networks a challenging task. The faults in these networks, which occur either due to the failure of nodes or due to reorganization, can eventuate to packet loss. Such losses degrade the performance of the routing protocols running on them. In this paper, we propose a routing algorithm, named as learning automata based fault-tolerant routing algorithm (LAFTRA), which is capable of routing in the presence of faulty nodes in MANETs using multipath routing. We have used the theory of Learning Automata (LA) for optimizing the selection of paths, reducing the overhead in the network, and for learning about the faulty nodes present in the network. The proposed algorithm can be juxtaposed to any existing routing protocol in a MANET. The results of simulation of our protocol using network simulator 2 (ns-2) shows the increase in packet delivery ratio and decrease in overhead compared to the existing protocols. The proposed protocol gains an edge over FTAR, E2FT by nearly 2% and by more than 10% when compared with AODV in terms of packet delivery ratio with nearly 30% faulty nodes in the network. The overhead generated by our protocol is lesser by 1% as compared to FTAR and by nearly 17% as compared to E2FT when there are nearly 30% faulty nodes.     

Development of Palmprint Verification System Using Biometrics

1 Introduction Reliability in personal authentication is key to the security in any transactional database. Many physiological characteristics of humans i.e., biometrics, are typically time invariant, easy to acquire, and unique for every individual. Biom…     

Thiobacillus denitrificans immobilized biotrickling filter for NO2 removal

Nitrogen dioxide (NO₂) removal efficiency of a biotrikling filter was evaluated under different operating conditions. Activated alumina (AA) was used as the immobilization matrix for Thiobacillus denitrificans (T. denitrificans) in the biotrickling filter. Batch studies were conducted to find out the degradation kinetics of nitrate and nitrite for a concentration range of 600–10,000 mg/L expressed as nitrogen. Nitrite exhibited maximum degradation rate followed by nitrate. Electron acceptor in the form of NO₂ gas showed least removal efficiency. Bio-kinetic parameters for T. denitrificans, by utilizing nitrate and nitrite as electron acceptors, were also evaluated. The μ_max (Maximum specific growth rate) and Y_T (Yield coefficient) values for T. denitrificans in the presence of nitrate and nitrite were 1.03 h⁻¹, 0.275 and 0.63 h⁻¹, 0.1316 respectively. Column study was conducted to find the adsorption and desorption potential of activated alumina. The adsorbed NO₂ from AA could easily be desorbed using distilled water with an efficiency of 76±0.8%. Once fed batch studies were conducted to evaluate the NO₂ removal efficiency by a biotrickling filter. With an influent NO₂ gas concentration of 2,735 ppm, the reactor could achieve a removal efficiency of 99% within 2 min from gas phase and within 96 h from the liquid phase, with an average biomass concentration of 200 mg/g of AA. The mechanism of NO₂ gas removal in the biotrickling filter seems to be the dissolution of NO₂ in water to form NO₃⁻, conversion of NO₃⁻ to NO₂ ⁻, and finally to N₂ gas.     

Voltage-Clock Scaling for Low Energy Consumption in Fixed-Priority Real-Time Systems

Power and energy constraints are becoming increasingly prevalent in real-time embedded systems. Voltage-scaling is a promising technique to reduce energy and power consumption: clock speed tends to decrease linearly with supply voltage while power consumption goes down quadratically. We therefore have a tradeoff between the energy consumption of a task and the speed with which it can be completed. The timing constraints associated with real-time tasks can be used to resolve this tradeoff. In this paper, we present two algorithms for voltage-scaling. Assuming that a processor can operate in one of two modes: high voltage and low voltage, we show how to schedule the voltage settings so that deadlines are met while reducing the total energy consumed. We show that significant reductions can be made in energy consumption.     

Mechanism of titanium sponge formation in the kroll reduction reactor

The Kroll process of magnesium reduction of titanium tetrachloride is used the world over the production of titanium metal in the form of sponge. Although the process has been in practice for the last five decades, there is no clear understanding of the reaction mechanism and sponge formation. The present study involved reduction experiments in a 2000 kg titanium sponge-capacity prototype reactor to develop a better understanding of TiCl₄ reduction of magnesium with respect to the process parameters. Experiments were also conducted in two smaller experimental reactors to study the temperature evolution during the process as a function of the TiCl₄ feed rate. Based on the results of all these experiments, a model has been proposed for the mechanism of sponge formation in the Kroll process.