title: LoRa-based localization systems for noisy outdoor environment

text: LoRa-based (Long Range Communication based) localization systems make use of RSSI (Received Signal Strength Indicator) to locate an object properly in an outdoor environment for IoT (Internet of Things) applications in smart environment and urban networking. The accuracy of localization is highly degraded, however, by noisy environments (e.g., electronic interference, blocking). To address this issue, this paper proposes two new localization algorithms to improve localization accuracy. Furthermore, the paper develops a winner selection strategy to select a winner from the traditional localization algorithm and the two new algorithms to minimize localization errors. Our simulations and real experiments found that the two new algorithms can significantly improve localization accuracy. Additionally, the winner selection strategy effectively selects a winner from the three algorithms to improve localization accuracy further. Using our proposed algorithms in some real experiments, the localization error is only a few meters in a real measurement field longer than 100 m.


title: Document-level Sentiment Inference with Social, Faction, and Discourse Context

text: We present a new approach for documentlevel sentiment inference, where the goal is to predict directed opinions (who feels positively or negatively towards whom) for all entities mentioned in a text. To encourage more complete and consistent predictions, we introduce an ILP that jointly models (1) sentenceand discourse-level sentiment cues, (2) factual evidence about entity factions, and (3) global constraints based on social science theories such as homophily, social balance, and reciprocity. Together, these cues allow for rich inference across groups of entities, including for example that CEOs and the companies they lead are likely to have similar sentiment towards others. We evaluate performance on new, densely labeled data that provides supervision for all pairs, complementing previous work that only labeled pairs mentioned in the same sentence. Experiments demonstrate that the global model outperforms sentence-level baselines, by providing more coherent predictions across sets of related entities.


title: Frequency-based anomaly detection for the automotive CAN bus

text: The modern automobile is controlled by networked computers. The security of these networks was historically of little concern, but researchers have in recent years demonstrated their many vulnerabilities to attack. As part of a defence against these attacks, we evaluate an anomaly detector for the automotive controller area network (CAN) bus. The majority of attacks are based on inserting extra packets onto the network. But most normal packets arrive at a strict frequency. This motivates an anomaly detector that compares current and historical packet timing. We present an algorithm that measures inter-packet timing over a sliding window. The average times are compared to historical averages to yield an anomaly signal. We evaluate this approach over a range of insertion frequencies and demonstrate the limits of its effectiveness. We also show how a similar measure of the data contents of packets is not effective for identifying anomalies. Finally we show how a one-class support vector machine can use the same information to detect anomalies with high confidence.


title: Graph2Seq: Scalable Learning Dynamics for Graphs

text: Neural networks have been shown to be an effective tool for learning algorithms over graph-structured data. However, graph representation techniques—that convert graphs to real-valued vectors for use with neural networks—are still in their infancy. Recent works have proposed several approaches (e.g., graph convolutional networks), but these methods have difficulty scaling and generalizing to graphs with different sizes and shapes. We present GRAPH2SEQ, a new technique that represents vertices of graphs as infinite time-series. By not limiting the representation to a fixed dimension, GRAPH2SEQ scales naturally to graphs of arbitrary sizes and shapes. GRAPH2SEQ is also reversible, allowing full recovery of the graph structure from the sequences. By analyzing a formal computational model for graph representation, we show that an unbounded sequence is necessary for scalability. Our experimental results with GRAPH2SEQ show strong generalization and new state-of-the-art performance on a variety of graph combinatorial optimization problems.


title: Image Super-Resolution Using Very Deep Residual Channel Attention Networks

text: Convolutional neural network (CNN) depth is of crucial importance for image super-resolution (SR). However, we observe that deeper networks for image SR are more difficult to train. The lowresolution inputs and features contain abundant low-frequency information, which is treated equally across channels, hence hindering the representational ability of CNNs. To solve these problems, we propose the very deep residual channel attention networks (RCAN). Specifically, we propose a residual in residual (RIR) structure to form very deep network, which consists of several residual groups with long skip connections. Each residual group contains some residual blocks with short skip connections. Meanwhile, RIR allows abundant low-frequency information to be bypassed through multiple skip connections, making the main network focus on learning high-frequency information. Furthermore, we propose a channel attention mechanism to adaptively rescale channel-wise features by considering interdependencies among channels. Extensive experiments show that our RCAN achieves better accuracy and visual improvements against state-of-the-art methods.


title: Riderless bicycle with gyroscopic balancer controlled by FSMC and AFSMC

text: A Riderless bicycle has been developed with a gyroscopic balancer controller by a Fuzzy Sliding Mode Controller (FSMC) and an Adaptive Fuzzy Sliding Mode Controller (AFSMC). The FSMC controller was first implemented because it has better performance on controlling nonlinear systems than the one with PID control. The FSMC can also reduce the chattering phenomenon caused by SMC and the effect of linearizing a nonlinear system. Compared with other balancers, the gyroscopic balancer has a couple of advantages, such as faster system response, lower mass ratio of balancer to bicycle and relatively larger moment. To demonstrate the attributes stated above, we designed and conducted experiments, including the balancing of unmoving bicycle, unmoving bicycle with external impacts, as well as the bicycle moving forward and turning. The experimental results show that the bicycle can overcome jolts, uneven terrain and external disturbances. Furthermore, since the results of experiments are consistent with the ones of the simulation, it validates the derived bicycle dynamics model with the gyroscopic balancer and proves its robustness. However, the system's ability to resist continuous disturbance is not strong enough because of the limitation on the tilt angle of the gyroscopic balancer. Hence, we modified the control strategy by using AFSMC despite the fact that the FSMC performed better than PID control. From the simulations in Section IV, it shows that the AFSMC has better performance at resisting continuous disturbances than FSMC does. Furthermore, the abilities to balance the unmoving bicycle or moving bicycle are no less than FSMC. Thus, the AFSMC is employed to replace the FSMC. The designs of adaptive law and estimation law of AFSMC are based on the Lyapunov function to ensure the stability of the system. Experiments of the bicycle controlled by AFSMC are currently being conducted.


title: Can visual fixation patterns improve image fidelity assessment?

text: This paper presents the results of a computational experiment designed to investigate the extent to which metrics of image fidelity can be improved through knowledge of where humans tend to fixate in images. Five common metrics of image fidelity were augmented using two sets of fixation data, one set obtained under task-free viewing conditions and another set obtained when viewers were asked to judge image quality. The augmented metrics were then compared to subjective ratings of the images. The results show that most metrics can be improved using eye fixation data, but a greater improvement was found using fixations obtained in the task-free condition (task-free viewing).


title: Semantic Match Consistency for Long-Term Visual Localization

text: Robust and accurate visual localization across large appearance variations due to changes in time of day, seasons, or changes of the environment is a challenging problem which is of importance to application areas such as navigation of autonomous robots. Traditional featurebased methods often struggle in these conditions due to the significant number of erroneous matches between the image and the 3D model. In this paper, we present a method for scoring the individual correspondences by exploiting semantic information about the query image and the scene. In this way, erroneous correspondences tend to get a low semantic consistency score, whereas correct correspondences tend to get a high score. By incorporating this information in a standard localization pipeline, we show that the localization performance can be significantly improved compared to the state-of-the-art, as evaluated on two challenging long-term localization benchmarks.


title: Stabilization and Path Following of a Spherical Robot

text: In this paper, we present a spherical mobile robot BYQ_III, for planetary surface exploration and security tasks. The driving torque for the rolling robot is generated by a new type of mechanism equipped with a counter-pendulum. This robot is nonholonomic in nature, and underactuated. In this paper, the three-dimensional (3-D) nonlinear dynamic model is developed, then decoupled to the longitudinal and lateral motions by linearization. Two sliding-mode controllers are proposed to asymptotically stabilize the tracking errors in lean angle and spinning angular velocity, respectively, and indirectly to stabilize the desired path curvature, because the robot steers only by leaning itself to a predefined angle. For the task of path following, a path curvature controller, based on a geometrical notion, is employed. The stability and performance analyses are performed, and also the effectiveness of the controllers is shown by numerical simulations. To the best of author's knowledge, similar results could not be obtained in the previous spherical robot control system based on the dynamics. The work is of significance in understanding and developing this type of planning and controlling motions of nonholonomic systems.


title: Dynamics simulation toolbox for industrial robot manipulators

text: A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on Langrange Euler and Newton Euler formulations. Since most of the industrial robot manipulators are produced with six degrees of freedom (DOF) such as the PUMA 560, the Fanuc ArcMate 120iB and Stanford Arm, the library of the toolbox includes sixteen fundamental 6-DOF robot manipulators with Euler wrist. The software can be used to interactively perform robotics analysis and off-line programming of robot dynamics such as forward and inverse dynamics as well as to interactively teach and simulate the basic principles of robot dynamics in a very realistic way. In order to demonstrate the user-friendly features of the toolbox much better, simulation of the NS robot manipulator (Stanford Arm) is provided as an example. 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ 18: 319 330, 2010; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20262


title: Energy-Efficient Data Collection in UAV Enabled Wireless Sensor Network

text: In wireless sensor networks, utilizing the unmanned aerial vehicle (UAV) as a mobile data collector for the sensor nodes (SNs) is an energy-efficient technique to prolong the network lifetime. In this letter, considering a general fading channel model for the SN-UAV links, we jointly optimize the SNs’ wake-up schedule and UAV’s trajectory to minimize the maximum energy consumption of all SNs, while ensuring that the required amount of data is collected reliably from each SN. We formulate our design as a mixed-integer non-convex optimization problem. By applying the successive convex optimization technique, an efficient iterative algorithm is proposed to find a sub-optimal solution. Numerical results show that the proposed scheme achieves significant network energy saving as compared to benchmark schemes.


title: Towards Reading Hidden Emotions: A Comparative Study of Spontaneous Micro-Expression Spotting and Recognition Methods

text: Micro-expressions (MEs) are rapid, involuntary facial expressions which reveal emotions that people do not intend to show. Studying MEs is valuable as recognizing them has many important applications, particularly in forensic science and psychotherapy. However, analyzing spontaneous MEs is very challenging due to their short duration and low intensity. Automatic ME analysis includes two tasks: ME spotting and ME recognition. For ME spotting, previous studies have focused on posed rather than spontaneous videos. For ME recognition, the performance of previous studies is low. To address these challenges, we make the following contributions: (i) We propose the first method for spotting spontaneous MEs in long videos (by exploiting feature difference contrast). This method is training free and works on arbitrary unseen videos. (ii) We present an advanced ME recognition framework, which outperforms previous work by a large margin on two challenging spontaneous ME databases (SMIC and CASMEII). (iii) We propose the first automatic ME analysis system (MESR), which can spot and recognize MEs from spontaneous video data. Finally, we show our method outperforms humans in the ME recognition task by a large margin, and achieves comparable performance to humans at the very challenging task of spotting and then recognizing spontaneous MEs.


title: Is endoscopic polypectomy an adequate therapy for malignant colorectal adenomas? Presentation of 114 patients and review of the literature.

text:
PURPOSE
This study was designed to evaluate the outcome of endoscopic polypectomy of malignant polyps with and without subsequent surgery based on histologic criteria.

METHODS
Consecutive patients with invasive carcinoma in colorectal polyps endoscopically removed between 1985 and 1996 were retrospectively studied. Patients with complete resection, grading G1 or G2, and absence of vascular invasion were classified as "low risk." The other patients were classified "high risk." Available literature was reviewed by applying similar classification criteria.

RESULTS
A total of 114 patients (59 males; median age, 70 (range, 20-92) years) were included. Median polyp size was 2.5 (0.4-10) cm. After polypectomy, of 54 patients with low-risk malignant polyps, 13 died of unrelated causes after a median of 76 months, 5 had no residual tumor at surgery, and 33 were alive and well during a median follow-up of 69 (range, 9-169) months. Of 60 patients with high-risk malignant polyps, 52 had surgery (residual carcinoma 27 percent). Five of eight patients not operated had an uneventful follow-up of median 57 (range, 47-129) months. Patients in the high-risk group were significantly more likely to have an adverse outcome than those in the low-risk group (P < 0.0001). Review of 20 studies including 1,220 patients with malignant polyps revealed no patient with low-risk criteria with an adverse outcome.

CONCLUSIONS
For patients with low-risk malignant polyps, endoscopic polypectomy alone seems to be adequate. In high-risk patients, the risk of adverse outcome should be weighed against the risk of surgery.


title: A scoping review of scoping reviews: advancing the approach and enhancing the consistency

text:
BACKGROUND
The scoping review has become an increasingly popular approach for synthesizing research evidence. It is a relatively new approach for which a universal study definition or definitive procedure has not been established. The purpose of this scoping review was to provide an overview of scoping reviews in the literature.

METHODS
A scoping review was conducted using the Arksey and O'Malley framework. A search was conducted in four bibliographic databases and the gray literature to identify scoping review studies. Review selection and characterization were performed by two independent reviewers using pretested forms.

RESULTS
The search identified 344 scoping reviews published from 1999 to October 2012. The reviews varied in terms of purpose, methodology, and detail of reporting. Nearly three-quarter of reviews (74.1%) addressed a health topic. Study completion times varied from 2 weeks to 20 months, and 51% utilized a published methodological framework. Quality assessment of included studies was infrequently performed (22.38%).

CONCLUSIONS
Scoping reviews are a relatively new but increasingly common approach for mapping broad topics. Because of variability in their conduct, there is a need for their methodological standardization to ensure the utility and strength of evidence.


title: A short literature review on reward-based crowdfunding

text: In this short article, we discuss about a popular online fundraising method, named crowdfunding. One of the most useful types is reward-based crowdfunding, where the return is tangible products. We review related researches from three streams, the conceptual research, the empirical research, and the modelling research. Some possible research directions are also discussed in the paper.


title: Brain2Object: Printing Your Mind from Brain Signals with Spatial Correlation Embedding

text: Electroencephalography (EEG) signals are known to manifest differential patterns when individuals visually concentrate on different objects (e.g., a car). In this work, we present an end-to-end digital fabrication system , Brain2Object, to print the 3D object that an individual is observing by solely decoding visually-evoked EEG brain signal streams. We propose a unified training framework which combines multi-class Common Spatial Pattern and deep Convolutional Neural Networks to support the backend computation. Specially, a Dynamical Graph Representation of EEG signals is learned for accurately capturing the structured spatial correlations of EEG channels in an adaptive manner. A user friendly interface is developed as the system front end. Brain2Object presents a streamlined end-to-end workflow which can serve as a template for deeper integration of BCI technologies to assist with our routine activities. The proposed system is evaluated extensively using offline experiments and through an online demonstrator. For the former, we use a rich widely used public dataset and a limited but locally collected dataset. The experiment results show that our approach consistently outperforms a wide range of baseline and state-of-the-art approaches. The proof-of-concept corroborates the practicality of our approach and illustrates the ease with which such a system could be deployed.


title: Analyzing hidden populations online: topic, emotion, and social network of HIV-related users in the largest Chinese online community

text:
BACKGROUND
Traditional survey methods are limited in the study of hidden populations due to the hard to access properties, including lack of a sampling frame, sensitivity issue, reporting error, small sample size, etc. The rapid increase of online communities, of which members interact with others via the Internet, have generated large amounts of data, offering new opportunities for understanding hidden populations with unprecedented sample sizes and richness of information. In this study, we try to understand the multidimensional characteristics of a hidden population by analyzing the massive data generated in the online community.

METHODS
By elaborately designing crawlers, we retrieved a complete dataset from the "HIV bar," the largest bar related to HIV on the Baidu Tieba platform, for all records from January 2005 to August 2016. Through natural language processing and social network analysis, we explored the psychology, behavior and demand of online HIV population and examined the network community structure.

RESULTS
In HIV communities, the average topic similarity among members is positively correlated to network efficiency (r = 0.70, p < 0.001), indicating that the closer the social distance between members of the community, the more similar their topics. The proportion of negative users in each community is around 60%, weakly correlated with community size (r = 0.25, p = 0.002). It is found that users suspecting initial HIV infection or first in contact with high-risk behaviors tend to seek help and advice on the social networking platform, rather than immediately going to a hospital for blood tests.

CONCLUSIONS
Online communities have generated copious amounts of data offering new opportunities for understanding hidden populations with unprecedented sample sizes and richness of information. It is recommended that support through online services for HIV/AIDS consultation and diagnosis be improved to avoid privacy concerns and social discrimination in China.


title: Locally Adaptive Color Correction for Underwater Image Dehazing and Matching

text: Underwater images are known to be strongly deteriorated by a combination of wavelength-dependent light attenuation and scattering. This results in complex color casts that depend both on the scene depth map and on the light spectrum. Color transfer, which is a technique of choice to counterbalance color casts, assumes stationary casts, defined by global parameters, and is therefore not directly applicable to the locally variable color casts encountered in underwater scenarios. To fill this gap, this paper introduces an original fusion-based strategy to exploit color transfer while tuning the color correction locally, as a function of the light attenuation level estimated from the red channel. The Dark Channel Prior (DCP) is then used to restore the color compensated image, by inverting the simplified Koschmieder light transmission model, as for outdoor dehazing. Our technique enhances image contrast in a quite effective manner and also supports accurate transmission map estimation. Our extensive experiments also show that our color correction strongly improves the effectiveness of local keypoints matching.


title: Overview of the Stereo and Multiview Video Coding Extensions of the H.264/MPEG-4 AVC Standard

text: Significant improvements in video compression capability have been demonstrated with the introduction of the H.264/MPEG-4 advanced video coding (AVC) standard. Since developing this standard, the Joint Video Team of the ITU-T Video Coding Experts Group (VCEG) and the ISO/IEC Moving Picture Experts Group (MPEG) has also standardized an extension of that technology that is referred to as multiview video coding (MVC). MVC provides a compact representation for multiple views of a video scene, such as multiple synchronized video cameras. Stereo-paired video for 3-D viewing is an important special case of MVC. The standard enables inter-view prediction to improve compression capability, as well as supporting ordinary temporal and spatial prediction. It also supports backward compatibility with existing legacy systems by structuring the MVC bitstream to include a compatible “base view.” Each other view is encoded at the same picture resolution as the base view. In recognition of its high-quality encoding capability and support for backward compatibility, the stereo high profile of the MVC extension was selected by the Blu-Ray Disc Association as the coding format for 3-D video with high-definition resolution. This paper provides an overview of the algorithmic design used for extending H.264/MPEG-4 AVC towards MVC. The basic approach of MVC for enabling inter-view prediction and view scalability in the context of H.264/MPEG-4 AVC is reviewed. Related supplemental enhancement information (SEI) metadata is also described. Various “frame compatible” approaches for support of stereo-view video as an alternative to MVC are also discussed. A summary of the coding performance achieved by MVC for both stereo- and multiview video is also provided. Future directions and challenges related to 3-D video are also briefly discussed.


title: Overview of the High Efficiency Video Coding (HEVC) Standard

text: High Efficiency Video Coding (HEVC) is currently being prepared as the newest video coding standard of the ITU-T Video Coding Experts Group and the ISO/IEC Moving Picture Experts Group. The main goal of the HEVC standardization effort is to enable significantly improved compression performance relative to existing standards-in the range of 50% bit-rate reduction for equal perceptual video quality. This paper provides an overview of the technical features and characteristics of the HEVC standard.


title: H.264/AVC over IP

text: H.264 is the ITU-T’s new, nonbackward compatible video compression Recommendation that significantly outperforms all previous video compression standards. It consists of a video coding layer (VCL) which performs all the classic signal processing tasks and generates bit strings containing coded macroblocks, and a network adaptation layer (NAL) which adapts those bit strings in a network friendly way. The paper describes the use of H.264 coded video over best-effort IP networks, using RTP as the real-time transport protocol. After the description of the environment, the error-resilience tools of H.264 and the draft specification of the RTP payload format are introduced. Next the performance of several possible VCLand NAL-based error-resilience tools of H.264 are verified in simulations.


title: Comparison of the Coding Efficiency of Video Coding Standards—Including High Efficiency Video Coding (HEVC)

text: The compression capability of several generations of video coding standards is compared by means of peak signal-to-noise ratio (PSNR) and subjective testing results. A unified approach is applied to the analysis of designs, including H.262/MPEG-2 Video, H.263, MPEG-4 Visual, H.264/MPEG-4 Advanced Video Coding (AVC), and High Efficiency Video Coding (HEVC). The results of subjective tests for WVGA and HD sequences indicate that HEVC encoders can achieve equivalent subjective reproduction quality as encoders that conform to H.264/MPEG-4 AVC when using approximately 50% less bit rate on average. The HEVC design is shown to be especially effective for low bit rates, high-resolution video content, and low-delay communication applications. The measured subjective improvement somewhat exceeds the improvement measured by the PSNR metric.


title: The Quadtree and Related Hierarchical Data Structures

text: A tutorial survey is presented of the quadtree and related hierarchical data structures. They are based on the principle of recursive decomposition. The emphasis is on the representation of data used in applications in image processing, computer graphics, geographic information systems, and robotics. There is a greater emphasis on region data (i.e., two-dimensional shapes) and to a lesser extent on point, curvilinear, and threedimensional data. A number of operations in which such data structures find use are examined in greater detail.


title: Software developers' perceptions of productivity

text: The better the software development community becomes at creating software, the more software the world seems to demand. Although there is a large body of research about measuring and investigating productivity from an organizational point of view, there is a paucity of research about how software developers, those at the front-line of software construction, think about, assess and try to improve their productivity. To investigate software developers' perceptions of software development productivity, we conducted two studies: a survey with 379 professional software developers to help elicit themes and an observational study with 11 professional software developers to investigate emergent themes in more detail. In both studies, we found that developers perceive their days as productive when they complete many or big tasks without significant interruptions or context switches. Yet, the observational data we collected shows our participants performed significant task and activity switching while still feeling productive. We analyze such apparent contradictions in our findings and use the analysis to propose ways to better support software developers in a retrospection and improvement of their productivity through the development of new tools and the sharing of best practices.


title: "The part of me that you bring out": ideal similarity and the Michelangelo phenomenon.

text: This work examines the Michelangelo phenomenon, an interpersonal model of the means by which people move closer to (vs. further from) their ideal selves. The authors propose that partner similarity--similarity to the ideal self, in particular--plays an important role in this process. Across 4 studies employing diverse designs and measurement techniques, they observed consistent evidence that when partners possess key elements of one another's ideal selves, each person affirms the other by eliciting important aspects of the other's ideals, each person moves closer to his or her ideal self, and couple well-being is enhanced. Partner similarity to the actual self also accounts for unique variance in key elements of this model. The associations of ideal similarity and actual similarity with couple well-being are fully attributable to the Michelangelo process, to partner affirmation and target movement toward the ideal self. The authors also performed auxiliary analyses to rule out several alternative interpretations of these findings.


title: Wrong, but useful: regional species distribution models may not be improved by range‐wide data under biased sampling

text: Species distribution modeling (SDM) is an essential method in ecology and conservation. SDMs are often calibrated within one country's borders, typically along a limited environmental gradient with biased and incomplete data, making the quality of these models questionable. In this study, we evaluated how adequate are national presence-only data for calibrating regional SDMs. We trained SDMs for Egyptian bat species at two different scales: only within Egypt and at a species-specific global extent. We used two modeling algorithms: Maxent and elastic net, both under the point-process modeling framework. For each modeling algorithm, we measured the congruence of the predictions of global and regional models for Egypt, assuming that the lower the congruence, the lower the appropriateness of the Egyptian dataset to describe the species' niche. We inspected the effect of incorporating predictions from global models as additional predictor ("prior") to regional models, and quantified the improvement in terms of AUC and the congruence between regional models run with and without priors. Moreover, we analyzed predictive performance improvements after correction for sampling bias at both scales. On average, predictions from global and regional models in Egypt only weakly concur. Collectively, the use of priors did not lead to much improvement: similar AUC and high congruence between regional models calibrated with and without priors. Correction for sampling bias led to higher model performance, whatever prior used, making the use of priors less pronounced. Under biased and incomplete sampling, the use of global bats data did not improve regional model performance. Without enough bias-free regional data, we cannot objectively identify the actual improvement of regional models after incorporating information from the global niche. However, we still believe in great potential for global model predictions to guide future surveys and improve regional sampling in data-poor regions.


title: Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor

text: In this letter, we address the autonomous flight of a small quadrotor, enabling tracking of a moving object. The 15-cm diameter, 250-g robot relies only on onboard sensors (a single camera and an inertial measurement unit) and computers, and can detect, localize, and track moving objects. Our key contributions include the relative pose estimate of a spherical target as well as the planning algorithm, which considers the dynamics of the underactuated robot, the actuator limitations, and the field of view constraints. We show simulation and experimental results to demonstrate feasibility and performance, as well as robustness to abrupt variations in target motion.


title: Inferring Dockless Shared Bike Distribution in New Cities

text: Recently, dockless shared bike services have achieved great success and reinvented bike sharing business in China. When expanding bike sharing business into a new city, most start-ups always wish to find out how to cover the whole city with a suitable bike distribution. In this paper, we study the problem of inferring bike distribution in new cities, which is challenging. As no dockless bikes are deployed in the new city, we propose to learn insights on bike distribution from cities populated with dockless bikes. We exploit multi-source data to identify important features that affect bike distributions and develop a novel inference model combining Factor Analysis and Convolutional Neural Network techniques. The extensive experiments on real-life datasets show that the proposed solution provides significantly more accurate inference results compared with competitive prediction methods.


title: Design and Analysis of a 21–29-GHz Ultra-Wideband Receiver Front-End in 0.18-$\mu$ m CMOS Technology

text: This paper reports the design and analysis of 21-29-GHz CMOS low-noise amplifier (LNA), balun and mixer in a standard 0.18-μm CMOS process for ultra-wideband automotive radar systems. To verify the proposed LNA, balun, and mixer architectures, a simplified receiver front-end comprising an LNA, a double-balanced Gilbert-cell-based mixer, and two Marchand baluns was implemented. The wideband Marchand baluns can convert the single RF and local oscillator (LO) signals to nearly perfect differential signals over the 21-29-GHz band. The performance of the mixer is improved with the current-bleeding technique and a parallel resonant inductor at the differential outputs of the RF transconductance stage. Over the 21-29-GHz band, the receiver front-end exhibits excellent noise figure of 4.6±0.5 dB, conversion gain of 23.7±1.4 dB, RF port reflection coefficient lower than -8.8 dB, LO-IF isolation lower than -47 dB, LO-RF isolation lower than -55 dB, and RF-IF isolation lower than -35.5 dB. The circuit occupies a chip area of 1.25×1.06 mm2, including the test pads. The dc power dissipation is only 39.2 mW.


title: Load-Adaptive Modulation of a Series-Resonant Inverter for All-Metal Induction Heating Applications

text: A conventional induction heating (IH) system has been developed to heat the pot of ferromagnetic materials because the small resistance of nonferromagnetic materials induces large resonant current to the power switch of a series-resonant IH inverter. However, the heating capability for various materials is the most important to improve the functionality and the usability of IH products. In this paper, a load-adaptive modulation (LAM) method is proposed to heat the pot made from nonferromagnetic and ferromagnetic materials. The LAM method can change the magnitude of the input voltage of the IH coil and the operating frequency of the series-resonant IH inverter according to the resistance of the pot. The operational principle and the design method are analyzed to implement the proposed LAM method and its power control. The validity of the LAM method is experimentally verified using a 2-kW prototype series-resonant IH inverter.


title: BIM: Enabling Sustainability and Asset Management through Knowledge Management

text: Building Information Modeling (BIM) is the use of virtual building information models to develop building design solutions and design documentation and to analyse construction processes. Recent advances in IT have enabled advanced knowledge management, which in turn facilitates sustainability and improves asset management in the civil construction industry. There are several important qualifiers and some disadvantages of the current suite of technologies. This paper outlines the benefits, enablers, and barriers associated with BIM and makes suggestions about how these issues may be addressed. The paper highlights the advantages of BIM, particularly the increased utility and speed, enhanced fault finding in all construction phases, and enhanced collaborations and visualisation of data. The paper additionally identifies a range of issues concerning the implementation of BIM as follows: IP, liability, risks, and contracts and the authenticity of users. Implementing BIM requires investment in new technology, skills training, and development of new ways of collaboration and Trade Practices concerns. However, when these challenges are overcome, BIM as a new information technology promises a new level of collaborative engineering knowledge management, designed to facilitate sustainability and asset management issues in design, construction, asset management practices, and eventually decommissioning for the civil engineering industry.


title: Robot Collisions: A Survey on Detection, Isolation, and Identification

text: Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.


title: Empathy and social functioning in late adulthood.

text:
OBJECTIVES
Both cognitive and affective empathy are regarded as essential prerequisites for successful social functioning, and recent studies have suggested that cognitive, but not affective, empathy may be adversely affected as a consequence of normal adult aging. This decline in cognitive empathy is of concern, as older adults are particularly susceptible to the negative physical and mental health consequences of loneliness and social isolation.

METHOD
The present study compared younger (N = 80) and older (N = 49) adults on measures of cognitive empathy, affective empathy, and social functioning.

RESULTS
Whilst older adults' self-reported and performance-based cognitive empathy was significantly reduced relative to younger adults, there were no age-related differences in affective empathy. Older adults also reported involvement in significantly fewer social activities than younger adults, and cognitive empathy functioned as a partial mediator of this relationship.

CONCLUSION
These findings are consistent with theoretical models that regard cognitive empathy as an essential prerequisite for good interpersonal functioning. However, the cross-sectional nature of the study leaves open the question of causality for future studies.


title: Study of the therapeutic effects of a hippotherapy simulator in children with cerebral palsy: a stratified single-blind randomized controlled trial.

text:
OBJECTIVE
To investigate whether hippotherapy (when applied by a simulator) improves postural control and balance in children with cerebral palsy.

DESIGN
Stratified single-blind randomized controlled trial with an independent assessor. Stratification was made by gross motor function classification system levels, and allocation was concealed.

SUBJECTS
Children between 4 and 18 years old with cerebral palsy.

INTERVENTIONS
Participants were randomized to an intervention (simulator ON) or control (simulator OFF) group after getting informed consent. Treatment was provided once a week (15 minutes) for 10 weeks.

MAIN MEASURES
Gross Motor Function Measure (dimension B for balance and the Total Score) and Sitting Assessment Scale were carried out at baseline (prior to randomization), end of intervention and 12 weeks after completing the intervention.

RESULTS
Thirty-eight children participated. The groups were balanced at baseline. Sitting balance (measured by dimension B of the Gross Motor Function Measure) improved significantly in the treatment group (effect size = 0.36; 95% CI 0.01-0.71) and the effect size was greater in the severely disabled group (effect size = 0.80; 95% CI 0.13-1.47). The improvements in sitting balance were not maintained over the follow-up period. Changes in the total score of the Gross Motor Function Measure and the Sitting Assessment Scale were not significant.

CONCLUSION
Hippotherapy with a simulator can improve sitting balance in cerebral palsy children who have higher levels of disability. However, this did not lead to a change in the overall function of these children (Gross Motor Function Classification System level V).


title: Pricing in Agent Economies Using Multi-Agent Q-Learning

text: This paper investigates how adaptive software agents may utilize reinforcement learning algorithms such as Q-learning to make economic decisions such as setting prices in a competitive marketplace. For a single adaptive agent facing fixed-strategy opponents, ordinary Q-learning is guaranteed to find the optimal policy. However, for a population of agents each trying to adapt in the presence of other adaptive agents, the problem becomes non-stationary and history dependent, and it is not known whether any global convergence will be obtained, and if so, whether such solutions will be optimal. In this paper, we study simultaneous Q-learning by two competing seller agents in three moderately realistic economic models. This is the simplest case in which interesting multi-agent phenomena can occur, and the state space is small enough so that lookup tables can be used to represent the Q-functions. We find that, despite the lack of theoretical guarantees, simultaneous convergence to self-consistent optimal solutions is obtained in each model, at least for small values of the discount parameter. In some cases, exact or approximate convergence is also found even at large discount parameters. We show how the Q-derived policies increase profitability and damp out or eliminate cyclic price “wars” compared to simpler policies based on zero lookahead or short-term lookahead. In one of the models (the “Shopbot” model) where the sellers' profit functions are symmetric, we find that Q-learning can produce either symmetric or broken-symmetry policies, depending on the discount parameter and on initial conditions.


title: Generating Synthetic Missing Data: A Review by Missing Mechanism

text: The performance evaluation of imputation algorithms often involves the generation of missing values. Missing values can be inserted in only one feature (univariate configuration) or in several features (multivariate configuration) at different percentages (missing rates) and according to distinct missing mechanisms, namely, missing completely at random, missing at random, and missing not at random. Since the missing data generation process defines the basis for the imputation experiments (configuration, missing rate, and missing mechanism), it is essential that it is appropriately applied; otherwise, conclusions derived from ill-defined setups may be invalid. The goal of this paper is to review the different approaches to synthetic missing data generation found in the literature and discuss their practical details, elaborating on their strengths and weaknesses. Our analysis revealed that creating missing at random and missing not at random scenarios in datasets comprising qualitative features is the most challenging issue in the related work and, therefore, should be the focus of future work in the field.


title: Driver fatigue detection based on eye tracking and dynamk, template matching

text: A vision-based real-time driver fatigue detection system is proposed for driving safely. The driver's face is located, from color images captured in a car, by using the characteristic of skin colors. Then, edge detection is used to locate the regions of eyes. In addition to being used as the dynamic templates for eye tracking in the next frame, the obtained eyes' images are also used for fatigue detection in order to generate some warning alarms for driving safety. The system is tested on a Pentium III 550 CPU with 128 MB RAM. The experiment results seem quite encouraging andpromising. The system can reach 20 frames per second for eye tracking, and the average correct rate for eye location and tracking can achieve 99.1% on four test videos. The correct rate for fatigue detection is l00%, but the average precision rate is 88.9% on the test videos.


title: Effectiveness of Credit Management System on Loan Performance : Empirical Evidence from Micro Finance Sector in Kenya

text: Microfinance institutions in Kenya experience high levels of non-performing loans. This trend threatens viability and sustainability of MFIs and hinders the achievement of their goals. This study was aimed at assessing the effectiveness of credit management systems on loan performance of microfinance institutions. Specifically we sought to establish the effect of credit terms, client appraisal, credit risk control measures and credit collection policies on loan performance. We adopted a descriptive research design. The respondents were the credit officers of the MFIs in Meru town. Collection policy was found to have a higher effect on loan repayment with =12.74, P=0.000 at 5% significance level. Further research is recommended on the effectiveness of credit referencing on loan performance of MFIs. This study is informative in terms of public policy adjustments and firm level competences required for better operation of MFIs and it also contributes to credit management literature.


title: Fast Cryptographic Computation on Intel ® Architecture Processors Via Function Stitching

text: Cryptographic applications often run more than one independent algorithm such as encryption and authentication. This fact provides a high level of parallelism which can be exploited by software and converted into instruction level parallelism to improve overall performance on modern super-scalar processors. We present fast and efficient methods of computing such pairs of functions on IA processors using a method called " function stitching ". Instead of computing pairs of functions sequentially as is done today in applications/libraries, we replace the function calls by a single call to a composite function that implements both algorithms. The execution time of this composite function can be made significantly shorter than the sums of the execution times for the individual functions and, in many cases, close to the execution time of the slower function. Function stitching is best done at a very fine grain, interleaving the code for the individual algorithms at an instruction-level granularity. This results in excellent utilization of the execution resources in the processor core with a single thread. We show how stitching pairs of functions together in a fine-grained manner results in excellent performance on IA processors. Currently, applications perform the functions sequentially. We demonstrate performance gains of 1.4X-1.9X with stitching over the best sequential function performance. We show performance results achieved by this method on the Intel ® processors based on the Westmere architecture.


title: Dual Quaternion Variational Integrator for Rigid Body Dynamic Simulation

text: We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational integrator is used to conserve the geometric structure, energy and momentum of the system during the simulation. The combination of these two becomes the first Lie group variational integrator for rigid body simulation without decoupling translations and rotations. Newton-Raphson method is used to solve the recursive dynamic equation. This method is suitable for real-time rigid body simulations with high precision under large time step. DQVI respects the symplectic structure of the system with excellent long-term conservation of geometry structure, momentum and energy. It also allows the reference point and 6-by-6 inertia matrix to be arbitrarily defined, which is very convenient for a variety of engineering problems.


title: Artificial error generation for translation-based grammatical error correction

text: Automated grammatical error correction for language learners has attracted a lot of attention in recent years, especially after a number of shared tasks that have encouraged research in the area. Treating the problem as a translation task from 'incorrect' into 'correct' English using statistical machine translation has emerged as a state-of-the-art approach but it requires vast amounts of corrected parallel data to produce useful results. Because manual annotation of incorrect text is laborious and expensive, we can generate artificial error-annotated data by injecting errors deliberately into correct text and thus produce larger amounts of parallel data with much less effort. In this work, we review previous work on artificial error generation and investigate new approaches using random and probabilistic methods for constrained and general error correction. Our methods use error statistics from a reference corpus of learner writing to generate errors in native text that look realistic and plausible in context. We investigate a number of aspects that can play a part in the error generation process, such as the origin of the native texts, the amount of context used to find suitable insertion points, the type of information encoded by the error patterns and the output error distribution. In addition, we explore the use of linguistic information for characterising errors and train systems using different combinations of real and artificial data. Results of our experiments show that the use of artificial errors can improve system performance when they are used in combination with real learner errors, in line with previous research. These improvements are observed for both constrained and general correction, for which probabilistic methods produce the best results. We also demonstrate that systems trained on a combination of real and artificial errors can beat other highly-engineered systems and be more robust, showing that performance can be improved by focusing on the data rather than tuning system parameters. Part of our work is also devoted to the proposal of the I-measure, a new evaluation scheme that scores corrections in terms of improvement on the original text and solves known issues with existing evaluation measures. To my family and L.A. In memory of Kika.


title: Amulet: Aggregating Multi-level Convolutional Features for Salient Object Detection

text: Fully convolutional neural networks (FCNs) have shown outstanding performance in many dense labeling problems. One key pillar of these successes is mining relevant information from features in convolutional layers. However, how to better aggregate multi-level convolutional feature maps for salient object detection is underexplored. In this work, we present Amulet, a generic aggregating multi-level convolutional feature framework for salient object detection. Our framework first integrates multi-level feature maps into multiple resolutions, which simultaneously incorporate coarse semantics and fine details. Then it adaptively learns to combine these feature maps at each resolution and predict saliency maps with the combined features. Finally, the predicted results are efficiently fused to generate the final saliency map. In addition, to achieve accurate boundary inference and semantic enhancement, edge-aware feature maps in low-level layers and the predicted results of low resolution features are recursively embedded into the learning framework. By aggregating multi-level convolutional features in this efficient and flexible manner, the proposed saliency model provides accurate salient object labeling. Comprehensive experiments demonstrate that our method performs favorably against state-of-the-art approaches in terms of near all compared evaluation metrics.


title: 2-MHz GaN PWM isolated SEPIC converters

text: The eGaN HEMTs with ZVS technique have emerged in high frequency converters to reduce the switching loss. This paper investigates an eGaN HEMT ZVS isolated SEPIC converter running up to 2 MHz. Furthermore, an inductor optimization method is proposed to ensure ZVS and reduce reverse conduction loss of the SR. The efficiency curve is optimized based on the trade-off method between the switching and conduction losses. Moreover, the embedded inductor is proposed to reduce the conduction loss of the inductor. Finally, two 2 MHz eGaN HEMT prototypes with the commercial and embedded inductor with 18–36 V input and 5 V/2 A output are built respectively to verify the effectiveness of the proposed methods. The converters achieve a peak efficiency of over 88.2% and power density of 52.9 W/in3, outperforming the state-of-art power module products.


title: Vehicle Tracking, Monitoring and Alerting System: A Review

text: The goal of this paper is to review the past work of vehicle tracking, monitoring and alerting system, to categorize various methodologies and identify new trends. Vehicle tracking, monitoring and alerting system is challenging problem. There are various challenges encounter in vehicle tracking, monitoring and alerting due to deficiency in proper real time vehicle location and problem of alerting system. GPS (Global Positioning System) is most widely used technology for vehicle tracking and keep regular monitoring of vehicle. The objective of tracking system is to manage and control the transport using GPS transreceiver to know the current location of vehicle. In number of system, RFID (Radio Frequency Identification) is chosen as one of technology implemented for bus monitoring system. GSM (Global System for Mobile Communication) is most widely used for alerting system. Alerting system is essential for providing the location and information about vehicle to passenger, owner or user.


title: Recognition of Emotional Face Expressions and Amygdala Pathology *

text: The amygdala is often damaged in patients with temporal lobe epilepsy, either because of the primary epileptogenic disease (e.g. sclerosis or encephalitis) or because of secondary effects of surgical interventions (e.g. lobectomy). In humans, the amygdala has been associated with a range of important emotional and social functions, in particular with deficits in emotion recognition from faces. Here we review data from recent neuropsychological research illustrating the amygdala role in processing facial expressions. We describe behavioural findings subsequent to focal lesions and possible factors that may influence the nature and severity of deficits in patients. Both bilateral and unilateral amygdala damage can impair the recog nition of facial emotions, especially fear, but such deficits are not always present and not always specific. Moreover, not all components of emotion or fear processing are impaired after amygdala damage. Dissociations have been reported between deficits in the recognition of emotions from the face of other people, and intact ability in the production of emotions in one's own facial expression [...] CRISTINZIO PERRIN, Chiara, SANDER, David, VUILLEUMIER, Patrik. Recognition of emotional face expressions and amygdala pathology. Epileptologie, 2007, vol. 3, p. 130-138


title: FPGA Implementations of Neural Networks - A Survey of a Decade of Progress

text: The first successful FPGA implementation [1] of artificial neural networks (ANNs) was published a little over a decade ago. It is timely to review the progress that has been made in this research area. This brief survey provides a taxonomy for classifying FPGA implementations of ANNs. Different implementation techniques and design issues are discussed. Future research trends are also presented.


title: Pedestrian detection in crowded scenes

text: In this paper, we address the problem of detecting pedestrians in crowded real-world scenes with severe overlaps. Our basic premise is that this problem is too difficult for any type of model or feature alone. Instead, we present an algorithm that integrates evidence in multiple iterations and from different sources. The core part of our method is the combination of local and global cues via probabilistic top-down segmentation. Altogether, this approach allows examining and comparing object hypotheses with high precision down to the pixel level. Qualitative and quantitative results on a large data set confirm that our method is able to reliably detect pedestrians in crowded scenes, even when they overlap and partially occlude each other. In addition, the flexible nature of our approach allows it to operate on very small training sets.


title: Object Detection Using the Statistics of Parts

text: In this paper we describe a trainable object detector and its instantiations for detecting faces and cars at any size, location, and pose. To cope with variation in object orientation, the detector uses multiple classifiers, each spanning a different range of orientation. Each of these classifiers determines whether the object is present at a specified size within a fixed-size image window. To find the object at any location and size, these classifiers scan the image exhaustively. Each classifier is based on the statistics of localized parts. Each part is a transform from a subset of wavelet coefficients to a discrete set of values. Such parts are designed to capture various combinations of locality in space, frequency, and orientation. In building each classifier, we gathered the class-conditional statistics of these part values from representative samples of object and non-object images. We trained each classifier to minimize classification error on the training set by using Adaboost with Confidence-Weighted Predictions (Shapire and Singer, 1999). In detection, each classifier computes the part values within the image window and looks up their associated class-conditional probabilities. The classifier then makes a decision by applying a likelihood ratio test. For efficiency, the classifier evaluates this likelihood ratio in stages. At each stage, the classifier compares the partial likelihood ratio to a threshold and makes a decision about whether to cease evaluation—labeling the input as non-object—or to continue further evaluation. The detector orders these stages of evaluation from a low-resolution to a high-resolution search of the image. Our trainable object detector achieves reliable and efficient detection of human faces and passenger cars with out-of-plane rotation.


title: Real-Time Object Detection for "Smart" Vehicles

text: This paper presents an e cient shape-based object detection method based on Distance Transforms and describes its use for real-time vision on-board vehicles. The method uses a template hierarchy to capture the variety of object shapes; e cient hierarchies can be generated o ine for given shape distributions using stochastic optimization techniques (i.e. simulated annealing). Online, matching involves a simultaneous coarse-tone approach over the shape hierarchy and over the transformation parameters. Very large speedup factors are typically obtained when comparing this approach with the equivalent brute-force formulation; we have measured gains of several orders of magnitudes. We present experimental results on the real-time detection of tra c signs and pedestrians from a moving vehicle. Because of the highly time sensitive nature of these vision tasks, we also discuss some hardwarespeci c implementations of the proposed method as far as SIMD parallelism is concerned.


A Performance Evaluation of Local Descriptors


title: Twitter Sentiment Analysis: Lexicon Method, Machine Learning Method and Their Combination

text: This paper covers the two approaches for sentiment analysis: i) lexicon based method; ii) machine learning method. We describe several techniques to implement these approaches and discuss how they can be adopted for sentiment classification of Twitter messages. We present a comparative study of different lexicon combinations and show that enhancing sentiment lexicons with emoticons, abbreviations and social-media slang expressions increases the accuracy of lexicon-based classification for Twitter. We discuss the importance of feature generation and feature selection processes for machine learning sentiment classification. To quantify the performance of the main sentiment analysis methods over Twitter we run these algorithms on a benchmark Twitter dataset from the SemEval-2013 competition, task 2-B. The results show that machine learning method based on SVM and Naive Bayes classifiers outperforms the lexicon method. We present a new ensemble method that uses a lexicon based sentiment score as input feature for the machine learning approach. The combined method proved to produce more precise classifications. We also show that employing a cost-sensitive classifier for highly unbalanced datasets yields an improvement of sentiment classification performance up to 7%.


title: A Balancing Control Strategy for a One-Wheel Pendulum Robot Based on Dynamic Model Decomposition: Simulations and Experiments

text: A dynamics-based posture-balancing control strategy for a new one-wheel pendulum robot (OWPR) is proposed and verified. The OWPR model includes a rolling wheel, a robot body with a steering axis, and a pendulum for lateral balancing. In constructing the dynamic model, three elements are generalized in comparison with existing robotic systems: the mass and inertia of the robot body, the “I”-type pendulum, and the steering motion. The dynamics of the robot are derived using a Lagrangian formulation to represent the torques of the wheel during the rolling, yawing, and pitching of the robot body, in terms of the control inputs. The OWPR dynamics are decomposed into state-space models for lateral balancing and steering, and the corresponding controller is designed to be adaptive to changes in the state variables. Simulations and experimental studies are presented that demonstrate and verify the efficiency of the proposed models and the control algorithm.


title: Implementation of the State of Charge Estimation with Adaptive Extended Kalman Filter for Lithium-Ion Batteries by Arduino

text: This study considers the use of Arduino to achieve state of charge (SOC) estimation of lithium-ion batteries by adaptive extended Kalman filter (AEKF). To implement a SOC estimator for the lithium-ion battery, we adopt a first-order RC equivalent circuit as the equivalent circuit model (ECM) of the battery. The parameters of the ECM will be identified through the designed experiments, and they will be approximated by the piecewise linear functions and then will be built into Arduino. The AEKF algorithm will also be programed into Arduino to estimate the SOC. To verify the accuracy of the SOC estimation, some lithium-ion batteries are tested at room temperature. Experimental results show that the absolute value of the steady-state SOC estimation error is small.


title: Multi-view Scene Flow Estimation: A View Centered Variational Approach

text: We present a novel method for recovering the 3D structure and scene flow from calibrated multi-view sequences. We propose a 3D point cloud parametrization of the 3D structure and scene flow that allows us to directly estimate the desired unknowns. A unified global energy functional is proposed to incorporate the information from the available sequences and simultaneously recover both depth and scene flow. The functional enforces multi-view geometric consistency and imposes brightness constancy and piecewise smoothness assumptions directly on the 3D unknowns. It inherently handles the challenges of discontinuities, occlusions, and large displacements. The main contribution of this work is the fusion of a 3D representation and an advanced variational framework that directly uses the available multi-view information. This formulation allows us to advantageously bind the 3D unknowns in time and space. Different from optical flow and disparity, the proposed method results in a nonlinear mapping between the images’ coordinates, thus giving rise to additional challenges in the optimization process. Our experiments on real and synthetic data demonstrate that the proposed method successfully recovers the 3D structure and scene flow despite the complicated nonconvex optimization problem.


title: B-ROC Curves for the Assessment of Classifiers over Imbalanced Data Sets

text: The class imbalance problem appears to be ubiquitous to a large portion of the machine learning and data mining communities. One of the key questions in this setting is how to evaluate the learning algorithms in the case of class imbalances. In this paper we introduce the Bayesian Receiver Operating Characteristic (B-ROC) curves, as a set of tradeoff curves that combine in an intuitive way, the variables that are more relevant to the evaluation of classifiers over imbalanced data sets. This presentation is based on section 4 of (Cárdenas, Baras, & Seamon 2006). Introduction The term class imbalance refers to the case when in a classification task, there are many more instances of some classes than others. The problem is that under this setting, classifiers in general perform poorly because they tend to concentrate on the large classes and disregard the ones with few examples. Given that this problem is prevalent in a wide range of practical classification problems, there has been recent interest in trying to design and evaluate classifiers faced with imbalanced data sets (Japkowicz 2000; Chawla, Japkowicz, & Kołcz 2003; Chawla, Japkowicz, & Kołz 2004). A number of approaches on how to address these issues have been proposed in the literature. Ideas such as data sampling methods, one-class learning (i.e. recognitionbased learning), and feature selection algorithms, appear to be the most active research directions for learning classifiers. On the other hand the issue of how to evaluate binary classifiers in the case of class imbalances appears to be dominated by the use of ROC curves (Ferri et al. 2004; 2005) (and to a lesser extent, by error curves (Drummond & Holte 2001)). The class imbalance problem is of particular importance in intrusion detection systems (IDSs). In this paper we present and expand some of the ideas introduced in our research for the evaluation of IDSs (Cárdenas, Baras, & Seamon 2006). In particular we claim that for heavily imbalanced data sets, ROC curves cannot provide the necessary Copyright c © 2006, American Association for Artificial Intelligence (www.aaai.org). All rights reserved. intuition for the choice of the operational point of the classifier and therefore we introduce the Bayesian-ROCs (BROCs). Furthermore we demonstrate how B-ROCs can deal with the uncertainty of class distributions by displaying the performance of the classifier under different conditions. Finally, we also show how B-ROCs can be used for comparing classifiers without any assumptions of misclassification costs. Performance Tradeoffs Before we present our formulation we need to introduce some notation and definitions. Assume that the input to the classifier is a feature-vector x. Let C be an indicator random variable denoting whether x belongs to class zero: C = 0 (the majority class) or class one: C = 1 (the minority class). The output of the classifier is denoted by A = 1 if the classifier assigns x to class one, and A = 0 if the classifier assigns x to class zero. Finally, the class imbalance problem is quantified by the probability of a positive example p = Pr[C = 1]. Most classifiers subject to the class imbalance problem are evaluated with the help of ROC curves. ROC curves are a tool to visualize the tradeoff between the probability of false alarm PFA ≡ Pr[A = 1|C = 0] and the probability of detection PD ≡ Pr[A = 1|C = 1]. Of interest to us in the intrusion detection community, is that classifiers with ROC curves achieving traditionally “good” operating points such as (PFA = 0.01,PD = 1) would still generate a huge amount of false alarms in realistic scenarios. This effect is due in part to the class imbalance problem, since one of the causes for the large amount of false alarms that IDSs generate, is the enormous difference between the large amount of normal activity compared to the small amount of intrusion events. The reasoning is that because the likelihood of an attack is very small, even if an IDS fires an alarm, the likelihood of having an intrusion remains relatively small. That is, when we compute the posterior probability of intrusion given that the IDS fired an alarm, (a quantity known as the Bayesian detection rate, or the positive predictive value (PPV)), we obtain: PPV ≡ Pr[C = 1|A = 1] = pPD pPD +(1− p)PFA (1) Therefore, if the rate of incidence of an attack is very small, for example on average only 1 out of 105 events is an attack


title: Data-driven models for monthly streamflow time series prediction

text: C. L. Wu and K. W. Chau* 2 Dept. of Civil and Structural Engineering, Hong Kong Polytechnic University, 3 Hung Hom, Kowloon, Hong Kong, People’s Republic of China 4 5 *Email: cekwchau@polyu.edu.hk 6 ABSTRACT 7 Data-driven techniques such as Auto-Regressive Moving Average (ARMA), K-Nearest-Neighbors (KNN), and 8 Artificial Neural Networks (ANN), are widely applied to hydrologic time series prediction. This paper investigates 9 different data-driven models to determine the optimal approach of predicting monthly streamflow time series. Four 10 sets of data from different locations of People’s Republic of China (Xiangjiaba, Cuntan, Manwan, and 11 Danjiangkou) are applied for the investigation process. Correlation integral and False Nearest Neighbors (FNN) 12 are first employed for Phase Space Reconstruction (PSR). Four models, ARMA, ANN, KNN, and Phase Space 13 Reconstruction-based Artificial Neural Networks (ANN-PSR) are then compared by one-month-ahead forecast 14 using Cuntan and Danjiangkou data. The KNN model performs the best among the four models, but only exhibits 15 weak superiority to ARMA. Further analysis demonstrates that a low correlation between model inputs and 16 outputs could be the main reason to restrict the power of ANN. A Moving Average Artificial Neural Networks 17 (MA-ANN), using the moving average of streamflow series as inputs, is also proposed in this study. The results 18 show that the MA-ANN has a significant improvement on the forecast accuracy compared with the original four 19 models. This is mainly due to the improvement of correlation between inputs and outputs depending on the 20 moving average operation. The optimal memory lengths of the moving average were three and six for Cuntan and 21 Danjiangkou respectively when the optimal model inputs are recognized as the previous twelve months. 22 23


title: State-of-the-Art Predictive Maintenance Techniques*

text: This paper discusses the limitations of time-based equipment maintenance methods and the advantages of predictive or online maintenance techniques in identifying the onset of equipment failure. The three major predictive maintenance techniques, defined in terms of their source of data, are described as follows: 1) the existing sensor-based technique; 2) the test-sensor-based technique (including wireless sensors); and 3) the test-signal-based technique (including the loop current step response method, the time-domain reflectrometry test, and the inductance-capacitance-resistance test). Examples of detecting blockages in pressure sensing lines using existing sensor-based techniques and of verifying calibration using existing-sensor direct current output are given. Three Department of Energy (DOE)-sponsored projects, whose aim is to develop online and wireless hardware and software systems for performing predictive maintenance on critical equipment in nuclear power plants, DOE research reactors, and general industrial applications, are described.


title: Towards Accurate Duplicate Bug Retrieval Using Deep Learning Techniques

text: Duplicate Bug Detection is the problem of identifying whether a newly reported bug is a duplicate of an existing bug in the system and retrieving the original or similar bugs from the past. This is required to avoid costly rediscovery and redundant work. In typical software projects, the number of duplicate bugs reported may run into the order of thousands, making it expensive in terms of cost and time for manual intervention. This makes the problem of duplicate or similar bug detection an important one in Software Engineering domain. However, an automated solution for the same is not quite accurate yet in practice, in spite of many reported approaches using various machine learning techniques. In this work, we propose a retrieval and classification model using Siamese Convolutional Neural Networks (CNN) and Long Short Term Memory (LSTM) for accurate detection and retrieval of duplicate and similar bugs. We report an accuracy close to 90% and recall rate close to 80%, which makes possible the practical use of such a system. We describe our model in detail along with related discussions from the Deep Learning domain. By presenting the detailed experimental results, we illustrate the effectiveness of the model in practical systems, including for repositories for which supervised training data is not available.


title: Insights from Price's equation into evolutionary epidemiology

text: The basic reproduction number, denoted by R0, is one of the most important quantities in epidemiological theory ([11], [23]). It is defined as the expected number of new infections generated by an infected individual in an otherwise wholly susceptible population ([2], [12], [23]). Part of the reason why R0 plays such a central role in this body of theory undoubtedly stems from its relatively simple and intuitively sensible interpretation as a measure of pathogen reproduction. If R0 is less than unity then we expect the pathogen to die out since each infected individual fails to generate at least one other infection during the lifetime of the infection. Given that R0 is a measure of pathogen reproductive success, it is not surprising that this quantity has also come to form the basis of most evolutionary considerations of host-pathogen interactions ([1], [18]). For example, mathematical models for numerous epidemiological settings have been used to demonstrate that natural selection is often expected to favour the pathogen strain that results in the largest value of R0 ([6], [18]). In more complex epidemiological settings such optimization criteria typically cannot be derived and instead a game-theoretic approach is taken ([5]). In this context a measure of the fitness of a rare mutant pathogen strain is used to characterize the evolutionarily stable strain (i.e., the strain that, if present within the population in sufficient numbers, cannot be displaced by any mutant strain that arises). Typically R0 again plays a central role as the measure of mutant fitness in such invasion analyses ([10], [18], [30]). In this chapter we consider an alternative approach for developing theory in evolutionary epidemiology. Rather than using the total number of new infections generated by an infected individual (i.e., R0) as a measure of pathogen fitness we use the instantaneous rate of change of the number of infected hosts instead (see also [3], [18]). This shifts the focus from a consideration of pathogen reproductive success per generation to pathogen reproductive success per unit time. One very useful result of this change in focus is that we can then model the time dynamics of evolutionary change in the pathogen population simultaneously with the epidemiological dynamics, rather than simply characterizing the evolutionary equilibria that are expected. Even more importantly, however, this seemingly slight change


title: Context Prediction for Unsupervised Deep Learning on Point Clouds

text: Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised learning tasks such as object classification and semantic segmentation. While massive point cloud datasets can be captured using modern scanning technology, manually labelling such large 3D point clouds for supervised learning tasks is a cumbersome process. This necessitates effective unsupervised learning methods that can produce representations such that downstream tasks require significantly fewer annotated samples. We propose a novel method for unsupervised learning on raw point cloud data in which a neural network is trained to predict the spatial relationship between two point cloud segments. While solving this task, representations that capture semantic properties of the point cloud are learned. Our method outperforms previous unsupervised learning approaches in downstream object classification and segmentation tasks and performs on par with fully supervised methods.


title: Scatterplots: Tasks, Data, and Designs

text: Traditional scatterplots fail to scale as the complexity and amount of data increases. In response, there exist many design options that modify or expand the traditional scatterplot design to meet these larger scales. This breadth of design options creates challenges for designers and practitioners who must select appropriate designs for particular analysis goals. In this paper, we help designers in making design choices for scatterplot visualizations. We survey the literature to catalog scatterplot-specific analysis tasks. We look at how data characteristics influence design decisions. We then survey scatterplot-like designs to understand the range of design options. Building upon these three organizations, we connect data characteristics, analysis tasks, and design choices in order to generate challenges, open questions, and example best practices for the effective design of scatterplots.


title: The design of scaffolds for use in tissue engineering. Part I. Traditional factors.

text: In tissue engineering, a highly porous artificial extracellular matrix or scaffold is required to accommodate mammalian cells and guide their growth and tissue regeneration in three dimensions. However, existing three-dimensional scaffolds for tissue engineering proved less than ideal for actual applications, not only because they lack mechanical strength, but they also do not guarantee interconnected channels. In this paper, the authors analyze the factors necessary to enhance the design and manufacture of scaffolds for use in tissue engineering in terms of materials, structure, and mechanical properties and review the traditional scaffold fabrication methods. Advantages and limitations of these traditional methods are also discussed.


title: From Polynesian healers to health food stores: changing perspectives of Morinda citrifolia (Rubiaceae).

text: Morinda citrifolia L (noni) is one of the most important traditional Polynesian medicinal plants. Remedies from isolated Polynesian cultures, such as that of Rotuma, illustrate traditional indications that focus upon leaves, roots, bark, and green fruit, primarily for topical ailments. Anecdotally collected Hawaiian remedies that employ noni fruit illustrate changing usage patterns with shifts in recent times to preparation of juice made of ripe or decaying fruit. Ralph M. Heinicke promoted a wide range of claims about noni, and these seem to have fueled much of the current commercial interest in the plant. Recent studies of the proliferation of commercial products have shown that noni product manufacturers are promoting a range of therapeutic claims. These claims are based upon traditional Polynesian uses, Heinicke's ideas, and fragments of recent scientific studies including the activity of noni in the treatment of cancer. A review is provided of recent studies of potential anticancer activity of noni fruit. While noni's anticancer potential is still being explored, it continues to be widely used by Polynesians and non-Polynesians alike for both traditional and newly hypothesized indications.


title: How Alluring Are Dark Personalities ? The Dark Triad and Attractiveness in Speed Dating

text: Copy Abstract: Dark Triad traits (narcissism, psychopathy, and Machiavellianism) are linked to the pursuit of short-term mating strategies, but they may have differential effects on actual mating success in naturalistic scenarios: Narcissism may be a facilitator for men’s short-term mating success, while Machiavellianism and psychopathy may be detrimental. To date, little is known about the attractiveness of Dark Triad traits in women. In a speed-dating study, we assessed participants’ Dark Triad traits, Big Five personality traits, and physical attractiveness in N=90 heterosexual individuals (46 women and 44 men). Each participant rated each partner’s mate appeal for shortand long-term relationships. Across both sexes, narcissism was positively associated with mate appeal for shortand long-term relationships. Further analyses indicated that these associations were due to the shared variance among narcissism and extraversion in men and narcissism and physical attractiveness in women, respectively. In women, psychopathy was also positively associated with mate appeal for short-term relationships. Regarding mating preferences, narcissism was found to involve greater choosiness in the rating of others’ mate appeal (but not actual choices) in men, while psychopathy was associated with greater openness towards short-term relationships in women. Copyright © 2016 European Association of Personality Psychology


title: Evaluating Sentiment Analysis in the Context of Securities Trading

text: There are numerous studies suggesting that published news stories have an important effect on the direction of the stock market, its volatility, the volume of trades, and the value of individual stocks mentioned in the news. There is even some published research suggesting that automated sentiment analysis of news documents, quarterly reports, blogs and/or twitter data can be productively used as part of a trading strategy. This paper presents just such a family of trading strategies, and then uses this application to re-examine some of the tacit assumptions behind how sentiment analyzers are generally evaluated, in spite of the contexts of their application. This discrepancy comes at a cost.


title: Feature selection methods for conversational recommender systems

text: This paper focuses on question selection methods for conversational recommender systems. We consider a scenario, where given an initial user query, the recommender system may ask the user to provide additional features describing the searched products. The objective is to generate questions/features that a user would likely reply, and if replied, would effectively reduce the result size of the initial query. Classical entropy-based feature selection methods are effective in term of result size reduction, but they select questions uncorrelated with user needs and therefore unlikely to be replied. We propose two feature-selection methods that combine feature entropy with an appropriate measure of feature relevance. We evaluated these methods in a set of simulated interactions where a probabilistic model of user behavior is exploited. The results show that these methods outperform entropy-based feature selection.


title: Lazy Decision Trees

text: Lazy learning algorithms, exemplified by nearestneighbor algorithms, do not induce a concise hypothesis from a given training set; the inductive process is delayed until a test instance is given. Algorithms for constructing decision trees, such as C4.5, ID3, and CART create a single “best” decision tree during the training phase, and this tree is then used to classify test instances. The tests at the nodes of the constructed tree are good on average, but there may be better tests for classifying a specific instance. We propose a lazy decision tree algorithm-LAzuDT-that conceptually constructs the “best” decision tree for each test instance. In practice, only a path needs to be constructed, and a caching scheme makes the algorithm fast. The algorithm is robust with respect to missing values without resorting to the complicated methods usually seen in induction of decision trees. Experiments on real and artificial problems are presented.


title: A consensus-based approach for platooning with inter-vehicular communications

text: Automated and coordinated vehicles' driving (platooning) is gaining more and more attention today and it represents a challenging scenario heavily relying on wireless Inter-Vehicular Communication (IVC). In this paper, we propose a novel controller for vehicle platooning based on consensus. Opposed to current approaches where the logical control topology is fixed a priori and the control law designed consequently, we design a system whose control topology can be reconfigured depending on the actual network status. Moreover, the controller does not require the vehicles to be radar equipped and automatically compensates outdated information caused by network delays. We define the control law and analyze it in both analytical and simulative way, showing its robustness in different network scenarios. We consider three different wireless network settings: uncorrelated Bernoullian losses, correlated losses using a Gilbert-Elliott channel, and a realistic traffic scenario with interferences caused by other vehicles. Finally, we compare our strategy with another state of the art controller. The results show the ability of the proposed approach to maintain a stable string of vehicles even in the presence of strong interference, delays, and fading conditions, providing higher comfort and safety for platoon drivers.


title: Thinking Positively - Explanatory Feedback for Conversational Recommender Systems

text: When it comes to buying expensive goods people expect to be skillfully steered through the options by well-informed sales assistants that are capable of balancing the user’s many and varied requirements. In addition users often need to be educated about the product-space, especially if they are to come to understand what is available and why certain options are being recommended by the sales-assistant. The same issues arise in interactive recommender systems, our online equivalent of a sales assistant and explanation in recommender systems, as a means to educate users and justify recommendations, is now well accepted. In this paper we focus on a novel approach to explanation. Instead of attempting to justify a particular recommendation we focus on how explanations can help users to understand the recommendation opportunities that remain if the current recommendation should not meet their requirements. We describe how this approach to explanation is tightly coupled with the generation of compound critiques, which act as a form of feedback for the users. And we argue that these explanation-rich critiques have the potential to dramatically improve recommender performance and usability.


title: A Survey of Definitions and Models of Exploratory Search

text: Exploratory search has an unclear and open-ended definition. The complexity of the task and the difficulty of defining this activity are reflected in the limits of existing evaluation methods for exploratory search systems. In order to improve them, we intend to design an evaluation method based on a user-centered model of exploratory search. In this work, we identified and defined the characteristics of exploratory search and used them as an information seeking model evaluation grid. We tested this analytic grid on two information seeking models: Ellis' and Marchionini's models. The results show that Marchonini's model does not match our evaluation method's requirements whereas on the other hand Ellis' model could be adapted to better suit exploratory search.


title: Efficient FIR Filter Design Using Modified Carry Select Adder & Wallace Tree Multiplier

text: An area-power-delay efficient design of FIR filter is described in this paper. In proposed multiplier unit high speed is achieved using XOR-XNOR column by column reduction compressors instead of compressors using full adder. The carry propagation delay and area of carry select adder is reduced by splitting carry select adder into equal bit groups. The proposed carry select adder unit consumes less power than conventional carry select adder unit. With proposed multiplier unit and carry select adder unit, the designed FIR Filter consumes 55% power less than the conventional filter without significant increase in area. The power & delay comparison is performed for both existing and proposed method of FIR filter. The design is implemented using 0.18μm technology. Index Terms FIR filter design, FDA Tool, Low Power VLSI, Wallace tree multiplication.


title: An efficient and generic reversible debugger using the virtual machine based approach

text: The reverse execution of programs is a function where programs are executed backward in time. A reversible debugger is a debugger that provides such a functionality. In this paper, we propose a novel reversible debugger that enables reverse execution of programs written in the C language. Our approach takes the virtual machine based approach. In this approach, the target program is executed on a special virtual machine. Our contribution in this paper is two-fold. First, we propose an approach that can address problems of (1) compatibility and (2) efficiency that exist in previous works. By compatibility, we mean that previous debuggers are not generic, i.e., they support only a special language or special intermediate code. Second, our approach provides two execution modes: the native mode, where the debuggee is directly executed on a real CPU, and the virtual machine mode, where the debuggee is executed on a virtual machine. Currently, our debugger provides four types of trade-off settings (designated by unit and optimization) to consider trade-offs between granularity, accuracy, overhead and memory requirement. The user can choose the appropriate setting flexibly during debugging without finishing and restarting the debuggee.


title: Real-time Empirical Mode Decomposition for EEG signal enhancement

text: Electroencephalography (EEG) recordings are used for brain research. However, in most cases, the recordings not only contain brain waves, but also artifacts of physiological or technical origins. A recent approach used for signal enhancement is Empirical Mode Decomposition (EMD), an adaptive data-driven technique which decomposes non-stationary data into so-called Intrinsic Mode Functions (IMFs). Once the IMFs are obtained, they can be used for denoising and detrending purposes. This paper presents a real-time implementation of an EMD-based signal enhancement scheme. The proposed implementation is used for removing noise, for suppressing muscle artifacts, and for detrending EEG signals in an automatic manner and in real-time. The proposed algorithm is demonstrated by application to a simulated and a real EEG data set from an epilepsy patient. Moreover, by visual inspection and in a quantitative manner, it is shown that after the EMD in real-time, the EEG signals are enhanced.


title: Span, CRUNCH, and Beyond: Working Memory Capacity and the Aging Brain

text: Neuroimaging data emphasize that older adults often show greater extent of brain activation than younger adults for similar objective levels of difficulty. A possible interpretation of this finding is that older adults need to recruit neuronal resources at lower loads than younger adults, leaving no resources for higher loads, and thus leading to performance decrements [Compensation-Related Utilization of Neural Circuits Hypothesis; e.g., Reuter-Lorenz, P. A., & Cappell, K. A. Neurocognitive aging and the compensation hypothesis. Current Directions in Psychological Science, 17, 177–182, 2008]. The Compensation-Related Utilization of Neural Circuits Hypothesis leads to the prediction that activation differences between younger and older adults should disappear when task difficulty is made subjectively comparable. In a Sternberg memory search task, this can be achieved by assessing brain activity as a function of load relative to the individual's memory span, which declines with age. Specifically, we hypothesized a nonlinear relationship between load and both performance and brain activity and predicted that asymptotes in the brain activation function should correlate with performance asymptotes (corresponding to working memory span). The results suggest that age differences in brain activation can be largely attributed to individual variations in working memory span. Interestingly, the brain activation data show a sigmoid relationship with load. Results are discussed in terms of Cowan's [Cowan, N. The magical number 4 in short-term memory: A reconsideration of mental storage capacity. Behavioral and Brain Sciences, 24, 87–114, 2001] model of working memory and theories of impaired inhibitory processes in aging.


title: Dry and Noncontact EEG Sensors for Mobile Brain–Computer Interfaces

text: Dry and noncontact electroencephalographic (EEG) electrodes, which do not require gel or even direct scalp coupling, have been considered as an enabler of practical, real-world, brain-computer interface (BCI) platforms. This study compares wet electrodes to dry and through hair, noncontact electrodes within a steady state visual evoked potential (SSVEP) BCI paradigm. The construction of a dry contact electrode, featuring fingered contact posts and active buffering circuitry is presented. Additionally, the development of a new, noncontact, capacitive electrode that utilizes a custom integrated, high-impedance analog front-end is introduced. Offline tests on 10 subjects characterize the signal quality from the different electrodes and demonstrate that acquisition of small amplitude, SSVEP signals is possible, even through hair using the new integrated noncontact sensor. Online BCI experiments demonstrate that the information transfer rate (ITR) with the dry electrodes is comparable to that of wet electrodes, completely without the need for gel or other conductive media. In addition, data from the noncontact electrode, operating on the top of hair, show a maximum ITR in excess of 19 bits/min at 100% accuracy (versus 29.2 bits/min for wet electrodes and 34.4 bits/min for dry electrodes), a level that has never been demonstrated before. The results of these experiments show that both dry and noncontact electrodes, with further development, may become a viable tool for both future mobile BCI and general EEG applications.


title: ECG measurement on a chair without conductive contact

text: For the purpose of long-term, everyday electrocardiogram (ECG) monitoring, we present a convenient method of ECG measurement without direct conductive contact with the skin while subjects sat on a chair wearing normal clothes. Measurements were made using electrodes attached to the back of a chair, high-input-impedance amplifiers mounted on the electrodes, and a large ground-plane placed on the chair seat. ECGs were obtained by the presented method for several types of clothing and compared to ECGs obtained from conventional measurement using Ag-AgCl electrodes. Motion artifacts caused by usual desk works were investigated. This study shows the feasibility of the method for long-term, convenient, everyday use


title: Analysis of emotion recognition using facial expressions, speech and multimodal information

text: The interaction between human beings and computers will be more natural if computers are able to perceive and respond to human non-verbal communication such as emotions. Although several approaches have been proposed to recognize human emotions based on facial expressions or speech, relatively limited work has been done to fuse these two, and other, modalities to improve the accuracy and robustness of the emotion recognition system. This paper analyzes the strengths and the limitations of systems based only on facial expressions or acoustic information. It also discusses two approaches used to fuse these two modalities: decision level and feature level integration. Using a database recorded from an actress, four emotions were classified: sadness, anger, happiness, and neutral state. By the use of markers on her face, detailed facial motions were captured with motion capture, in conjunction with simultaneous speech recordings. The results reveal that the system based on facial expression gave better performance than the system based on just acoustic information for the emotions considered. Results also show the complementarily of the two modalities and that when these two modalities are fused, the performance and the robustness of the emotion recognition system improve measurably.