Consequences and conjectures in preordered sets

In a preordered set, or preset, consequence operators in the sense of Tarski, defined on families of subsets, are introduced. From them, the corresponding sets of conjectures, hypotheses, speculations and refutations are considered, studying the relationships between these sets and those previously defined on ortholattices. All the concepts introduced are illustrated with three particular consequence operators, whose behavior is studied in detail. The results obtained are applied to the case of fuzzy sets endowed with the usual pointwise ordering.     

A model for “crisp reasoning” with fuzzy sets

In the setting of a general type of fuzzy algebras, this paper deals with a new theoretic view on the commonsense reasoning, consisting of a kind of Popper's search for conjectures and refutations. It is supposed that the reasoning is done in natural language, but only with nonambiguous precise and imprecise terms, respectively, represented by crisp and fuzzy sets. © 2012 Wiley Periodicals, Inc.     

Feedback passivity of nonlinear discrete-time systems with direct input-output link

This paper is devoted to the study of the feedback passivity property in nonlinear discrete-time systems. The relative degree and zero dynamics of the non-passive system are related to the feedback passivity of the system. Two main results are presented. First, some relative degree-related properties of passive systems in general form are stated. Second, sufficient conditions in order to render a multiple-input multiple-output (MIMO) system passive by means of a static state feedback control law are obtained.     

Opportunistic sampling-based active visual SLAM for underwater inspection

This paper reports on an active SLAM framework for performing large-scale inspections with an underwater robot. We propose a path planning algorithm integrated with visual SLAM that plans loop-closure paths in order to decrease navigation uncertainty. While loop-closing revisit actions bound the robot’s uncertainty, they also lead to redundant area coverage and increased path length. Our proposed opportunistic framework leverages sampling-based techniques and information filtering to plan revisit paths that are coverage efficient. We employ Gaussian process regression for modeling the prediction of camera registrations and use a two-step optimization procedure for selecting revisit actions. We show that the proposed method offers many benefits over existing solutions and good performance for bounding navigation uncertainty in long-term autonomous operations with hybrid simulation experiments and real-world field trials performed by an underwater inspection robot.     

Adaptive continuous‐space informative path planning for online environmental monitoring

Autonomous mobile robots are increasingly employed to take measurements for environmental monitoring, but planning informative, measurement‐rich paths through large three‐dimensional environments is still challenging. Designing such paths, known as the informative path planning (IPP) problem, has been shown to be NP‐hard. Existing algorithms focus on providing guarantees on suboptimal solutions, but do not scale well to large problems. In this paper, we introduce a novel IPP algorithm that uses an evolutionary strategy to optimize a parameterized path in continuous space, which is subject to various constraints regarding path budgets and motion capabilities of an autonomous mobile robot. Moreover, we introduce a replanning scheme to adapt the planned paths according to the measurements taken in situ during data collection. When compared to two state‐of‐the‐art solutions, our method provides competitive results at significantly lower computation times and memory requirements. The proposed replanning scheme enables to build models with up to 25% lower uncertainty within an initially unknown area of interest. Besides presenting theoretical results, we tailored the proposed algorithms for data collection using an autonomous surface vessel for an ecological study, during which the method was validated through three field deployments on Lake Zurich, Switzerland. Spatiotemporal variations are shown over a period of three months and in an area of 350 m × 350 m × 13 m. Whereas our theoretical solution can be applied to multiple applications, our field results specifically highlight the effectiveness of our planner for monitoring toxic microorganisms in a pre‐alpine lake, and for identifying hot‐spots within their distribution.     

Media coverage in times of political crisis: A text mining approach

At the year end of 2011 Belgium formed a government, after a world record breaking period of 541 days of negotiations. We have gathered and analysed 68,000 related on-line news articles published in 2011 in Flemish newspapers. These articles were analysed by a custom-built expert system. The results of our text mining analyses show interesting differences in media coverage and votes for several political parties and politicians. With opinion mining, we are able to automatically detect the sentiment of each article, thereby allowing to visualise how the tone of reporting evolved throughout the year, on a party, politician and newspaper level. Our suggested framework introduces a generic text mining approach to analyse media coverage on political issues, including a set of methodological guidelines, evaluation metrics, as well as open source opinion mining tools. Since all analyses are based on automated text mining algorithms, an objective overview of the manner of reporting is provided. The analysis shows peaks of positive and negative sentiments during key moments in the negotiation process.     

Multi-leader coordination algorithm for networks with switching topology and quantized information

This paper analyzes the stability and convergence properties of a proportional–integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.     

Intersection of microwire electrodes with proximal CA1 stratum-pyramidale neurons at insertion for multiunit recordings predicted by a 3-D computer model

It is of broad interest in the context of neuronal multiunit extracellular recordings to understand electrode-tissue interactions in order to maximize the number of recordable units and to minimize experimental artifacts due to mechanical tissue alteration. Toward this goal, a computer model of microwire electrode insertion in hippocampus CA1 area was developed, firstly to provide estimates of the number of electrode-neuron intersections affecting recordable (local) neurons and, secondly, to determine optimal insertion/electrode parameters that minimize the number of intersections. The model predicts that in hippocampus CA1 area, using an electrode 50 microm in diameter, only 10% of the recordable neurons (those within 50 microm of the electrode), would remain collision free. Moreover, the model also predicts that inhibitory neurons are less prone to be intersected by the electrode, resulting in a 2 to threefold higher percentage of collision-free interneurons than expected from the relative densities of pyramidal cells and interneurons. Furthermore, the model confirms, in agreement with experimental observations, that electrode tilting with respect to the main neuronal axis increases the number of intact neurons (fourfold for a 50-microm electrode at 45 degrees when compared to 0 degrees , i.e., an insertion normal to the cell body layer).     

Temperature and emissivity separation from ASTER data for low spectral contrast surfaces

The performance of Advanced Spaceborne Thermal Emission Reflection Radiometer (ASTER) thermal infrared (TIR) data product algorithms was evaluated for low spectral contrast surfaces (such as vegetation and water) in a test site close to Valencia, Spain. Concurrent ground measurements of surface temperature, emissivity, and atmospheric radiosonde profiles were collected at the test site, which is a thermally homogeneous area of rice crops with nearly full vegetation cover in summer. Using the ground data and the local radiosonde profiles, at-sensor radiances were simulated for the ASTER TIR channels and compared with L1B data (calibrated at-sensor radiances) showing discrepancies up to 3% in radiance for channel 10 at 8.3 μm (equivalently, 2.5 °C in temperature or 7% in emissivity), whereas channel 13 (10.7 μm) yielded a closer agreement (maximum difference of 0.5% in radiance or 0.4 °C in temperature). We also tested the ASTER standard products of land surface temperature (LST) and spectral emissivity generated with the Temperature-Emissivity Separation (TES) algorithm with standard atmospheric correction from both global data assimilation system profiles and climatology profiles. These products showed anomalous emissivity spectra with lower emissivity values and larger spectral contrast (or maximum-minimum emissivity difference, MMD) than expected, and as a result, overestimated LSTs. In this work, a scene-based procedure is proposed to obtain more accurate MMD estimates for low spectral contrast materials (vegetation and water) and therefore a better retrieval of LST and emissivity with the TES algorithm. The method uses various gray-bodies or near gray-bodies with known emissivities and assumes that the calibration and atmospheric correction performed with local radiosonde data are accurate for channel 13. Taking the channel 13 temperature (atmospherically and emissivity corrected) as the true LST, the radiances for the other channels were simulated and used to derive linear relationships between ASTER digital numbers and at-ground radiances for each channel. The TES algorithm was applied to the adjusted radiances and the resulting products showed a closer agreement with the ground measurements (differences lower than 1% in channel 13 emissivities and within ± 0.3 °C in temperature for rice and sea pixels).     

New low-dimensional solids: Tellurium-rich alkali metal tellurides

The crystal and electronic structure of several recently reported tellurium-rich alkali metal tellurides is discussed. Some of these materials contain defective square planar tellurium lattices, which on the basis of band structure calculations are expected to be new low-dimensional metals. The structural interrelations between some of these new phases can be understood once the primordial template role of the alkali metal as well as the secondary Te…Te interactions are considered. Tellurium-rich alkali metal tellurides seem to be promising materials in the search for new solids with interesting structural and electronic properties.