title: VerbOcean: Mining the Web for Fine-Grained Semantic Verb Relations

text: Broad-coverage repositories of semantic relations between verbs could benefit many NLP tasks. We present a semi-automatic method for extracting fine-grained semantic relations between verbs. We detect similarity, strength, antonymy, enablement, and temporal happens-before relations between pairs of strongly associated verbs using lexicosyntactic patterns over the Web. On a set of 29,165 strongly associated verb pairs, our extraction algorithm yielded 65.5% accuracy. Analysis of error types shows that on the relation strength we achieved 75% accuracy. We provide the resource, called VERBOCEAN, for download at http://semantics.isi.edu/ocean/.


title: Web question answering: is more always better?

text: This paper describes a question answering system that is designed to capitalize on the tremendous amount of data that is now available online. Most question answering systems use a wide variety of linguistic resources. We focus instead on the redundancy available in large corpora as an important resource. We use this redundancy to simplify the query rewrites that we need to use, and to support answer mining from returned snippets. Our system performs quite well given the simplicity of the techniques being utilized. Experimental results show that question answering accuracy can be greatly improved by analyzing more and more matching passages. Simple passage ranking and n-gram extraction techniques work well in our system making it efficient to use with many backend retrieval engines.


title: A Winnow-Based Approach to Context-Sensitive Spelling Correction

text: A large class of machine-learning problems in natural language require the characterization of linguistic context. Two characteristic properties of such problems are that their feature space is of very high dimensionality, and their target concepts depend on only a small subset of the features in the space. Under such conditions, multiplicative weight-update algorithms such as Winnow have been shown to have exceptionally good theoretical properties. In the work reported here, we present an algorithm combining variants of Winnow and weighted-majority voting, and apply it to a problem in the aforementioned class: context-sensitive spelling correction. This is the task of fixing spelling errors that happen to result in valid words, such as substituting to for too, casual for causal, and so on. We evaluate our algorithm, WinSpell, by comparing it against BaySpell, a statistics-based method representing the state of the art for this task. We find: (1) When run with a full (unpruned) set of features, WinSpell achieves accuracies significantly higher than BaySpell was able to achieve in either the pruned or unpruned condition; (2) When compared with other systems in the literature, WinSpell exhibits the highest performance; (3) While several aspects of WinSpell's architecture contribute to its superiority over BaySpell, the primary factor is that it is able to learn a better linear separator than BaySpell learns; (4) When run on a test set drawn from a different corpus than the training set was drawn from, WinSpell is better able than BaySpell to adapt, using a strategy we will present that combines supervised learning on the training set with unsupervised learning on the (noisy) test set.


title: Rule based Autonomous Citation Mining with TIERL

text: Citations management is an important task in managing digital libraries. Citations provide valuable information e.g., used in evaluating an author's influences or scholarly quality (the impact factor of research journals). But although a reliable and effective autonomous citation management is essential, manual citation management can be extremely costly. Automatic citation mining on the other hand is a non-trivial task mainly due to non-conforming citation styles, spelling errors and the difficulty of reliably extracting text from PDF documents. In this paper we propose a novel rule-based autonomous citation mining technique, to address this important task. We define a set of common heuristics that together allow to improve the state of the art in automatic citation mining. Moreover, by first disambiguating citations based on venues, our technique significantly enhances the correct discovery of citations. Our experiments show that the proposed approach is indeed able to overcome limitations of current leading citation indexes such as ISI Web of Knowledge , Citeseer and Google Scholar.


title: Feature selection for high-dimensional data

text: This paper offers a comprehensive approach to feature selection in the scope of classification problems, explaining the foundations, real application problems and the challenges of feature selection in the context of high-dimensional data. First, we focus on the basis of feature selection, providing a review of its history and basic concepts. Then, we address different topics in which feature selection plays a crucial role, such as microarray data, intrusion detection, or medical applications. Finally, we delve into the open challenges that researchers in the field have to deal with if they are interested to confront the advent of “Big Data” and, more specifically, the “Big Dimensionality”.


title: Is Memory Schematic ?

text: ion Information that has been selected because it is important and/or relevant to the schema is further reduced during the encoding process by abstraction. This process codes the meaning but not the format of a message (e.g., Bobrow, 1970; Bransford, Barclay, & Franks, 1972). Thus, details such as the lexical form of an individual word (e.g., Schank, 1972, 1976) and the syntactic form of a sentence (e.g., Sachs, 1967) will not be preserved in memory. Because memory for syntax appears to be particularly sparce as well as brief (e.g., J. R. Anderson, 1974; Begg & Wickelgren, 1974; Jarvella, 1971; Sachs, 1967, 1974), the abstraction process is thought to operate during encoding. Additional support for the notion that what is stored is an abstracted representation of the original stimulus comes from studies that demonstrate that after a passage is read, it takes subjects the same amount of time to verify information originally presented in a complex linguistic format as it does to verify that same information presented in a simpler format (e.g., King & Greeno, 1974; Kintsch &Monk, 1972). There are a considerable number of theories that assume that memory consists of sets of propositions and their relations (e.g., J. R. Anderson, 1976; Bransford, et al., 1972; Brewer, 1975; Frederiksen, 1975a; Kintsch, 1974; Norman & Rumelhart, 1975; Schank, 1972, 1976). One formalized presentation of this idea is Schank's conceptual dependency theory (1972). The theory asserts that all propositions can be expressed by a small set of primitive concepts. All lexical expressions that share an identical meaning will be represented in one way (and so stored economically) regardless of their presentation format. As a result people should often incorrectly recall or misrecognize synonyms of originally presented words, and they do (e.g., Anderson & Bower, 1973; R. C. Anderson, 1974; Anisfeld & Knapp, 1968; Brewer, 1975; Graesser, 1978b; Sachs, 1974). Abstraction and memory theories. Since considerable detail is lost via the abstraction process, this process can easily account for the incompleteness that is characteristic of people's recall of complex events. In light of the abstraction process, the problem for schema theories becomes one of accounting for accurate recall. Schema theories do this by borrowing a finding from psycholinguistic research, to wit, that speakers of a language share preferred ways of expressing information. If both the creator and perceiver of a message are operating with the same preferences or under the same biases, the perceiver's reproduction of the input may appear to be accurate. The accuracy, however, is the product of recalling the semantic content of the message and imposing the preferred structure onto it. Thus, biases operate in a manner that is similar to the "probable detail" reconstruction process. Biases have been documented for both syntactic information (J. R. Anderson, 1974; Bock, 1977; Bock & Brewer, 1974; Clark & Clark, 1968; James, Thompson, & Baldwin, 1973) and lexical information (Brewer, 1975; Brewer & Lichtenstein, 1974). Distortions may result from the abstraction process if biases are not shared by the person who creates the message and the one who receives it. More importantly, the ab-


title: Effects of a 7-Day Meditation Retreat on the Brain Function of Meditators and Non-Meditators During an Attention Task

text: Meditation as a cognitive enhancement technique is of growing interest in the field of health and research on brain function. The Stroop Word-Color Task (SWCT) has been adapted for neuroimaging studies as an interesting paradigm for the understanding of cognitive control mechanisms. Performance in the SWCT requires both attention and impulse control, which is trained in meditation practices. We presented SWCT inside the MRI equipment to measure the performance of meditators compared with non-meditators before and after a meditation retreat. The aim of this study was to evaluate the effects of a 7-day Zen intensive meditation training (a retreat) on meditators and non-meditators in this task on performance level and neural mechanisms. Nineteen meditators and 14 non-meditators were scanned before and after a 7-day Zen meditation retreat. No significant differences were found between meditators and non-meditators in the number of the correct responses and response time (RT) during SWCT before and after the retreat. Probably, due to meditators training in attention, their brain activity in the contrast incongruent > neutral during the SWCT in the anterior cingulate, ventromedial prefrontal cortex/anterior cingulate, caudate/putamen/pallidum/temporal lobe (center), insula/putamen/temporal lobe (right) and posterior cingulate before the retreat, were reduced compared with non-meditators. After the meditation retreat, non-meditators had reduced activation in these regions, becoming similar to meditators before the retreat. This result could be interpreted as an increase in the brain efficiency of non-meditators (less brain activation in attention-related regions and same behavioral response) promoted by their intensive training in meditation in only 7 days. On the other hand, meditators showed an increase in brain activation in these regions after the same training. Intensive meditation training (retreat) presented distinct effects on the attention-related regions in meditators and non-meditators probably due to differences in expertise, attention processing as well as neuroplasticity.


title: LOMIT: LOCAL MASK-BASED IMAGE-TO-IMAGE TRANSLATION VIA PIXEL-WISE HIGHWAY ADAPTIVE INSTANCE NORMALIZATION

text: Recently, image-to-image translation has seen a significant success. Among many approaches, image translation based on an exemplar image, which contains the target style information, has been popular, owing to its capability to handle multimodality as well as its suitability for practical use. However, most of the existing methods extract the style information from an entire exemplar and apply it to the entire input image, which introduces excessive image translation in irrelevant image regions. In response, this paper proposes a novel approach that jointly extracts out the local masks of the input image and the exemplar as targeted regions to be involved for image translation. In particular, the main novelty of our model lies in (1) co-segmentation networks for local mask generation and (2) the local mask-based highway adaptive instance normalization technique. We demonstrate the quantitative and the qualitative evaluation results to show the advantages of our proposed approach. Finally, the code is available at https://github.com/AnonymousIclrAuthor/ Highway-Adaptive-Instance-Normalization.


title:
Designing Algorithms To Aid Discovery by Chemical
Robots

text: Recently, automated robotic systems have become very efficient, thanks to improved coupling between sensor systems and algorithms, of which the latter have been gaining significance thanks to the increase in computing power over the past few decades. However, intelligent automated chemistry platforms for discovery orientated tasks need to be able to cope with the unknown, which is a profoundly hard problem. In this Outlook, we describe how recent advances in the design and application of algorithms, coupled with the increased amount of chemical data available, and automation and control systems may allow more productive chemical research and the development of chemical robots able to target discovery. This is shown through examples of workflow and data processing with automation and control, and through the use of both well-used and cutting-edge algorithms illustrated using recent studies in chemistry. Finally, several algorithms are presented in relation to chemical robots and chemical intelligence for knowledge discovery.


title: CS 224N Assignment 4: Question Answering on SQuAD

text: In this project, we are interested in building an end-to-end neural network architecture for the Question Answering task on the well-known Stanford Question Answering Dataset (SQuAD). Our implementation is motivated from a recent highperformance achieving method that combines coattention encoder with a dynamic pointing decoder known as Dynamic Coattention Network. We explored different ensemble and test decoding techniques that we believe might improve the performance of such systems.


title: Neural Text Generation: A Practical Guide

text: Deep learning methods have recently achieved great empirical success on machine translation, dialogue response generation, summarization, and other text generation tasks. At a high level, the technique has been to train end-to-end neural network models consisting of an encoder model to produce a hidden representation of the source text, followed by a decoder model to generate the target. While such models have significantly fewer pieces than earlier systems, significant tuning is still required to achieve good performance. For text generation models in particular, the decoder can behave in undesired ways, such as by generating truncated or repetitive outputs, outputting bland and generic responses, or in some cases producing ungrammatical gibberish. This paper is intended as a practical guide for resolving such undesired behavior in text generation models, with the aim of helping enable real-world applications.


title: Compatibility Is Not Transparency: VMM Detection Myths and Realities

text: Recent work on applications ranging from realistic honeypots to stealthier rootkits has speculated about building transparent VMMs – VMMs that are indistinguishable from native hardware, even to a dedicated adversary. We survey anomalies between real and virtual hardware and consider methods for detecting such anomalies, as well as possible countermeasures. We conclude that building a transparent VMM is fundamentally infeasible, as well as impractical from a performance and engineering standpoint.


title: Textual resource acquisition and engineering

text: and engineering J. Chu-Carroll J. Fan N. Schlaefer W. Zadrozny A key requirement for high-performing question-answering (QA) systems is access to high-quality reference corpora from which answers to questions can be hypothesized and evaluated. However, the topic of source acquisition and engineering has received very little attention so far. This is because most existing systems were developed under organized evaluation efforts that included reference corpora as part of the task specification. The task of answering Jeopardy!i questions, on the other hand, does not come with such a well-circumscribed set of relevant resources. Therefore, it became part of the IBM Watsoni effort to develop a set of well-defined procedures to acquire high-quality resources that can effectively support a high-performing QA system. To this end, we developed three procedures, i.e., source acquisition, source transformation, and source expansion. Source acquisition is an iterative development process of acquiring new collections to cover salient topics deemed to be gaps in existing resources based on principled error analysis. Source transformation refers to the process in which information is extracted from existing sources, either as a whole or in part, and is represented in a form that the system can most easily use. Finally, source expansion attempts to increase the coverage in the content of each known topic by adding new information as well as lexical and syntactic variations of existing information extracted from external large collections. In this paper, we discuss the methodology that we developed for IBM Watson for performing acquisition, transformation, and expansion of textual resources. We demonstrate the effectiveness of each technique through its impact on candidate recall and on end-to-end QA performance.


title: The definition and classification of glaucoma in prevalence surveys.

text: This review describes a scheme for diagnosis of glaucoma in population based prevalence surveys. Cases are diagnosed on the grounds of both structural and functional evidence of glaucomatous optic neuropathy. The scheme also makes provision for diagnosing glaucoma in eyes with severe visual loss where formal field testing is impractical, and for blind eyes in which the optic disc cannot be seen because of media opacities.


title: Empathy circuits

text: The social neuroscientific investigation of empathy has revealed that the same neural networks engaged during first-hand experience of affect subserve empathic responses. Recent meta-analyses focusing on empathy for pain for example reliably identified a network comprising anterior insula and anterior midcingulate cortex. Moreover, recent studies suggest that the generation of empathy is flexibly supported by networks involved in action simulation and mentalizing depending on the information available in the environment. Further, empathic responses are modulated by many factors including the context they occur in. Recent work shows how this modulation can be afforded by the engagement of antagonistic motivational systems or by cognitive control circuits, and these modulatory systems can also be employed in efforts to regulate one's empathic responses.


title: Performance analysis of two open source intrusion detection systems

text: Several studies have been conducted where authors compared the performance of open source Intrusion detection systems, namely Snort and Suricata. However, most studies were limited to either security indicators or performance measurements under the same operating system. The objective of this study is to give a comprehensive analysis of both products in terms of several security related and performance related indicators. In addition, we tested the products under two different operating systems. Several experiments were run to evaluate the effects of open source intrusion detection and prevention systems Snort and Suricata, operating systems Windows, Linux and various attack types on system resource usage, dropped packets rate and ability to detect intrusions. The results show that Suricata has a higher CPU and RAM utilization than Snort in all cases on both operating systems, but lower percentage of dropped packets when evaluated during five of six simulated attacks. Both products had the same number of correctly identified intrusions. The results show that Linux-based solutions consume more system resources, but Windows-based systems had a higher rate of dropped packets. This indicates that these two intrusion detection and prevention systems should be run on Linux. However, both systems are inappropriate for high volumes of traffic in single-server setting.


title: Designing Neural Networks Using Genetic Algorithms with Graph Generation System

text: We present a new method of designing neural networks using the genetic algorithm. Recently there have been several reports claiming attempts to design neural networks using genetic algorithms were successful. However, these methods have a problem in scalability, i.e., the convergence characteristic degrades significantly as the size of the network increases. This is because these methods employ direct mapp ing of chromosomes into network connectivities. As an alternative approach, we propose a graph grammatical encoding that will encode graph generation grammar to the chromosome so that it generates more regular connectivity patterns with shorter chromosome length. Experimental results support that our new scheme provides magnitude of speedup in convergence of neural network design and exhibits desirable scaling property.


title: Unbiased classification of sensory neuron types by large-scale single-cell RNA sequencing

text: The primary sensory system requires the integrated function of multiple cell types, although its full complexity remains unclear. We used comprehensive transcriptome analysis of 622 single mouse neurons to classify them in an unbiased manner, independent of any a priori knowledge of sensory subtypes. Our results reveal eleven types: three distinct low-threshold mechanoreceptive neurons, two proprioceptive, and six principal types of thermosensitive, itch sensitive, type C low-threshold mechanosensitive and nociceptive neurons with markedly different molecular and operational properties. Confirming previously anticipated major neuronal types, our results also classify and provide markers for new, functionally distinct subtypes. For example, our results suggest that itching during inflammatory skin diseases such as atopic dermatitis is linked to a distinct itch-generating type. We demonstrate single-cell RNA-seq as an effective strategy for dissecting sensory responsive cells into distinct neuronal types. The resulting catalog illustrates the diversity of sensory types and the cellular complexity underlying somatic sensation.


title: Learning Semantically Coherent and Reusable Kernels in Convolution Neural Nets for Sentence Classification

text: The purpose of this work is to empirically study desirable properties such as semantic coherence, attention mechanism and kernel reusability in Convolution Neural Networks (CNNs) for learning sentence classification tasks. We propose to learn semantically coherent kernels using clustering scheme combined with Word2Vec representation and domain knowledge such as SentiWordNet. We also suggest a technique to visualize attention mechanism of CNNs. These ideas are useful for decision explanation purpose. Reusable property enables kernels learned on one problem to be used in another problem. This helps in efficient learning as only a few additional domain specific kernels may have to be learned. Experimental results demonstrate the usefulness of our approach. The performance of the proposed approach, which uses semantic and re-usability properties, is close to that of the state-of-the-art approaches on many real-world datasets.


title: Standardization of the in-car gesture interaction space

text: Driven by technological advancements, gesture interfaces have recently found their way into vehicular prototypes of various kind. Unfortunately, their application is less than perfect and detailed information about preferred gesture execution regions, spatial extent, and time behavior are not available yet. Providing car (interior) manufacturer with gesture characteristics would allow them to design future in-vehicle concepts in a way to not interfere with gestural interaction. To tackle the problem, this research aims as preliminary work for a later standardization of the diverse properties of gestures and gesture classes similarly to what is already standardized in norms such as ISO 3958/4040 for placement and reachability of traditional controls and indicators. We have set up a real driving experiment recording trajectories and time behavior of gestures related to car and media control tasks. Data evaluation reveals that most of the subjects perform gestures in the same region (bounded by a "triangle" steering wheel, rear mirror, and gearshift) and with similar spatial extent (on average below 2 sec.). The generated density plots can be further used for an initial discussion about gesture execution in the passenger compartment. The final aim is to propose a new standard on permitted gesture properties (time, space) in the car.


title: The Modified Abbreviated Math Anxiety Scale: A Valid and Reliable Instrument for Use with Children

text: Mathematics anxiety (MA) can be observed in children from primary school age into the teenage years and adulthood, but many MA rating scales are only suitable for use with adults or older adolescents. We have adapted one such rating scale, the Abbreviated Math Anxiety Scale (AMAS), to be used with British children aged 8-13. In this study, we assess the scale's reliability, factor structure, and divergent validity. The modified AMAS (mAMAS) was administered to a very large (n = 1746) cohort of British children and adolescents. This large sample size meant that as well as conducting confirmatory factor analysis on the scale itself, we were also able to split the sample to conduct exploratory and confirmatory factor analysis of items from the mAMAS alongside items from child test anxiety and general anxiety rating scales. Factor analysis of the mAMAS confirmed that it has the same underlying factor structure as the original AMAS, with subscales measuring anxiety about Learning and Evaluation in math. Furthermore, both exploratory and confirmatory factor analysis of the mAMAS alongside scales measuring test anxiety and general anxiety showed that mAMAS items cluster onto one factor (perceived to represent MA). The mAMAS provides a valid and reliable scale for measuring MA in children and adolescents, from a younger age than is possible with the original AMAS. Results from this study also suggest that MA is truly a unique construct, separate from both test anxiety and general anxiety, even in childhood.


title: Using RDF Summary Graph For Keyword-based Semantic Searches

text: The Semantic Web began to emerge as its standards and technologies developed rapidly in the recent years. The continuing development of Semantic Web technologies has facilitated publishing explicit semantics with data on the Web in RDF data model. This study proposes a semantic search framework to support efficient keyword-based semantic search on RDF data utilizing near neighbor explorations. The framework augments the search results with the resources in close proximity by utilizing the entity type semantics. Along with the search results, the system generates a relevance confidence score measuring the inferred semantic relatedness of returned entities based on the degree of similarity. Furthermore, the evaluations assessing the effectiveness of the framework and the accuracy of the results are presented.


title: Localization for mobile sensor networks

text: Many sensor network applications require location awareness, but it is often too expensive to include a GPS receiver in a sensor network node. Hence, localization schemes for sensor networks typically use a small number of seed nodes that know their location and protocols whereby other nodes estimate their location from the messages they receive. Several such localization techniques have been proposed, but none of them consider mobile nodes and seeds. Although mobility would appear to make localization more difficult, in this paper we introduce the sequential Monte Carlo Localization method and argue that it can exploit mobility to improve the accuracy and precision of localization. Our approach does not require additional hardware on the nodes and works even when the movement of seeds and nodes is uncontrollable. We analyze the properties of our technique and report experimental results from simulations. Our scheme outperforms the best known static localization schemes under a wide range of conditions.


title: Taxonomy and Survey of Collaborative Intrusion Detection

text: The dependency of our society on networked computers has become frightening: In the economy, all-digital networks have turned from facilitators to drivers; as cyber-physical systems are coming of age, computer networks are now becoming the central nervous systems of our physical world—even of highly critical infrastructures such as the power grid. At the same time, the 24/7 availability and correct functioning of networked computers has become much more threatened: The number of sophisticated and highly tailored attacks on IT systems has significantly increased. Intrusion Detection Systems (IDSs) are a key component of the corresponding defense measures; they have been extensively studied and utilized in the past. Since conventional IDSs are not scalable to big company networks and beyond, nor to massively parallel attacks, Collaborative IDSs (CIDSs) have emerged. They consist of several monitoring components that collect and exchange data. Depending on the specific CIDS architecture, central or distributed analysis components mine the gathered data to identify attacks. Resulting alerts are correlated among multiple monitors in order to create a holistic view of the network monitored. This article first determines relevant requirements for CIDSs; it then differentiates distinct building blocks as a basis for introducing a CIDS design space and for discussing it with respect to requirements. Based on this design space, attacks that evade CIDSs and attacks on the availability of the CIDSs themselves are discussed. The entire framework of requirements, building blocks, and attacks as introduced is then used for a comprehensive analysis of the state of the art in collaborative intrusion detection, including a detailed survey and comparison of specific CIDS approaches.


title: Confabulation based sentence completion for machine reading

text: Sentence completion and prediction refers to the capability of filling missing words in any incomplete sentences. It is one of the keys to reading comprehension, thus making sentence completion an indispensible component of machine reading. Cogent confabulation is a bio-inspired computational model that mimics the human information processing. The building of confabulation knowledge base uses an unsupervised machine learning algorithm that extracts the relations between objects at the symbolic level. In this work, we propose performance improved training and recall algorithms that apply the cogent confabulation model to solve the sentence completion problem. Our training algorithm adopts a two-level hash table, which significantly improves the training speed, so that a large knowledge base can be built at relatively low computation cost. The proposed recall function fills missing words based on the sentence context. Experimental results show that our software can complete trained sentences with 100% accuracy. It also gives semantically correct answers to more than two thirds of the testing sentences that have not been trained before.


title: Seismic Data Classification Using Machine Learning

text: Earthquakes around the world have been a cause of major destruction and loss of life and property. An early detection and prediction system using machine learning classification models can prove to be very useful for disaster management teams. The earthquake stations continuously collect data even when there is no event. From this data, we need to distinguish earthquake and non-earthquake. Machine learning techniques can be used to analyze continuous time series data to detect earthquakes effectively. Furthermore, the earthquake data can be used to predict the P-wave and S-wave arrival times.


title: Learning Compact Appearance Representation for Video-based Person Re-Identification

text: This paper presents a novel approach for video-based person re-identification using multiple Convolutional Neural Networks (CNNs). Unlike previous work, we intend to extract a compact yet discriminative appearance representation from several frames rather than the whole sequence. Specifically, given a video, the representative frames are selected based on the walking profile of consecutive frames. A multiple CNN architecture incorporated with feature pooling is proposed to learn and compile the features of the selected representative frames into a compact description about the pedestrian for identification. Experiments are conducted on benchmark datasets to demonstrate the superiority of the proposed method over existing person re-identification approaches.


title: Extracting Social Network and Character Categorization From Bengali Literature

text: Literature network analysis is an emerging area in the computational research domain. Literature network is a type of social network with various distinct features. The analysis explores significance of human behavior and complex social relationships. The story consists of some characters and creates an interconnected social system. Each character of the literature represents a node and the edge between any two nodes offered the interaction between them. An annotation and a novel character categorization method are developed to extract interactive social network from the Bengali drama. We analyze Raktakarabi and Muktodhara, two renowned Bengali dramas of Rabindranath Tagore. Weighted degree, closeness, and betweenness centrality analyze the correlation among the characters. We propose an edge contribution-based centrality and diversity metric of a node to determine the influence of one character over others. High diverse nodes show low clustering coefficient and vice versa. We propose a novel idea to analyze the characteristics of protagonist and antagonist from the influential nodes based on the complex graph. We also present a game theory-based community detection method that clusters the actors with a high degree of relationship. Evaluation on real-world networks demonstrates the superiority of the proposed method over the other existing algorithms. Interrelationship of the actors within the drama is also shown from the detected communities, as underlying theme of the narrations is identical. The analytical results show that our method efficiently finds the protagonist and antagonist from the literature network. The method is unique, and the analytical results are more accurate and unbiased than the human perspective. Our approach establishes similar results compared with the benchmark analysis available in Tagore’s Bengali literature.


title: Fast Feature Pyramids for Object Detection

text: Multi-resolution image features may be approximated via extrapolation from nearby scales, rather than being computed explicitly. This fundamental insight allows us to design object detection algorithms that are as accurate, and considerably faster, than the state-of-the-art. The computational bottleneck of many modern detectors is the computation of features at every scale of a finely-sampled image pyramid. Our key insight is that one may compute finely sampled feature pyramids at a fraction of the cost, without sacrificing performance: for a broad family of features we find that features computed at octave-spaced scale intervals are sufficient to approximate features on a finely-sampled pyramid. Extrapolation is inexpensive as compared to direct feature computation. As a result, our approximation yields considerable speedups with negligible loss in detection accuracy. We modify three diverse visual recognition systems to use fast feature pyramids and show results on both pedestrian detection (measured on the Caltech, INRIA, TUD-Brussels and ETH data sets) and general object detection (measured on the PASCAL VOC). The approach is general and is widely applicable to vision algorithms requiring fine-grained multi-scale analysis. Our approximation is valid for images with broad spectra (most natural images) and fails for images with narrow band-pass spectra (e.g., periodic textures).


title: Fast Explicit Diffusion for Accelerated Features in Nonlinear Scale Spaces

text: We propose a novel and fast multiscale feature detection and description approach that exploits the benefits of nonlinear scale spaces. Previous attempts to detect and describe features in nonlinear scale spaces are highly time consuming due to the computational burden of creating the nonlinear scale space. In this paper we propose to use recent numerical schemes called Fast Explicit Diffusion (FED) embedded in a pyramidal framework to dramatically speed-up feature detection in nonlinear scale spaces. In addition, we introduce a Modified-Local Difference Binary (M-LDB) descriptor that is highly efficient, exploits gradient information from the nonlinear scale space, is scale and rotation invariant and has low storage requirements. We present an extensive evaluation that shows the excellent compromise between speed and performance of our approach compared to state-of-the-art methods such as BRISK, ORB, SURF, SIFT and KAZE.


title: Polynomial Eigenvalue Solutions to the 5-pt and 6-pt Relative Pose Problems

text: In this paper we provide new fast and simple solutions to two important minimal problems in computer vision, the five-point relative pose problem and the six-point focal length problem. We show that these two problems can easily be formulated as polynomial eigenvalue problems of degree three and two and solved using standard efficient numerical algorithms. Our solutions are somewhat more stable than state-of-the-art solutions by Nister and Stewenius and are in some sense more straightforward and easier to implement since polynomial eigenvalue problems are well studied with many efficient and robust algorithms available. The quality of the solvers is demonstrated in experiments 1.


title: Multi-image matching using multi-scale oriented patches

text: This paper describes a novel multi-view matching framework based on a new type of invariant feature. Our features are located at Harris corners in discrete scale-space and oriented using a blurred local gradient. This defines a rotationally invariant frame in which we sample a feature descriptor, which consists of an 8 /spl times/ 8 patch of bias/gain normalised intensity values. The density of features in the image is controlled using a novel adaptive non-maximal suppression algorithm, which gives a better spatial distribution of features than previous approaches. Matching is achieved using a fast nearest neighbour algorithm that indexes features based on their low frequency Haar wavelet coefficients. We also introduce a novel outlier rejection procedure that verifies a pairwise feature match based on a background distribution of incorrect feature matches. Feature matches are refined using RANSAC and used in an automatic 2D panorama stitcher that has been extensively tested on hundreds of sample inputs.


title: The Option-Critic Architecture

text: We first studied the behavior of the intra-option policy gradient algorithm when the initiation sets and subgoals are fixed by hand. In this case, options terminate with probability 0.9 in a hallway state and four of its incoming neighboring states. We chose to parametrize the intra-option policies using the softmax distribution with a one-hot encoding of state-action pairs as basis functions. Learning both intra-option policies and terminations


title: Dark vs. Dim Silicon and Near-Threshold Computing

text: Due to limited scaling of supply voltage, power density is expected to grow in future technology nodes. This increasing power density potentially limits the number of transistors switching at full speed in the future. Near-threshold operation can increase the number of simultaneously active cores, at the expense of much lower operating frequency (“dim silicon”). Although promising to increase overall throughput, dim cores suffer from diminishing returns as the number of cores increases. At this point, hardware accelerators become more efficient alternatives. To explore such a broad design space, we have developed a framework called Lumos to analytically quantify the performance limits of many-core, heterogeneous systems operating at near-threshold voltage. Lumos augments Amdahl’s Law with detailed scaling of frequency and power, calibrated by circuit-level simulations using a modified Predictive Technology Model (PTM) and factors in effects of process variations. While our results show that dim cores do indeed boost throughput, even in the presence of process variations, significant benefits are only achieved in applications with very high parallelism or with novel architectures to mitigate variation. A more beneficial 1 and scalable approach is to use accelerators. However, reconfigurable logic that supports a variety of accelerators is more beneficial than a dedicated, fixed-logic accelerator, unless 1) the dedicated kernel has overwhelming coverage across applications (e.g. twice as large as the total of all others), or 2) the speedup of the dedicated accelerator over the reconfigurable equivalent is significant (e.g. 10x-50x).


title: AmiGO: online access to ontology and annotation data

text: AmiGO is a web application that allows users to query, browse and visualize ontologies and related gene product annotation (association) data. AmiGO can be used online at the Gene Ontology (GO) website to access the data provided by the GO Consortium; it can also be downloaded and installed to browse local ontologies and annotations. AmiGO is free open source software developed and maintained by the GO Consortium.


title: Stress and hippocampal plasticity.

text: The hippocampus is a target of stress hormones, and it is an especially plastic and vulnerable region of the brain. It also responds to gonadal, thyroid, and adrenal hormones, which modulate changes in synapse formation and dendritic structure and regulate dentate gyrus volume during development and in adult life. Two forms of structural plasticity are affected by stress: Repeated stress causes atrophy of dendrites in the CA3 region, and both acute and chronic stress suppresses neurogenesis of dentate gyrus granule neurons. Besides glucocorticoids, excitatory amino acids and N-methyl-D-aspartate (NMDA) receptors are involved in these two forms of plasticity as well as in neuronal death that is caused in pyramidal neurons by seizures and by ischemia. The two forms of hippocampal structural plasticity are relevant to the human hippocampus, which undergoes a selective atrophy in a number of disorders, accompanied by deficits in declarative episodic, spatial, and contextual memory performance. It is important, from a therapeutic standpoint, to distinguish between a permanent loss of cells and a reversible atrophy.


title: Conservative treatment of carpal tunnel syndrome: comparison between laser therapy and Fascial Manipulation(®).

text: The etiopathogenesis of Carpal Tunnel Syndrome (CTS) is multifactorial and most cases are classified as idiopathic (Thurston 2013). A randomized controlled trial was performed to compare the effectiveness of Fascial Manipulation(®) (FM) and Low-Level Laser Therapy (LLLT) for CTS. This prospective trial included 42 patients (70 hands with symptoms) with clinical and electroneuromyographic diagnosis of CTS. The patients were randomly assigned to receive multiple sessions of FM or multiple session of LLLT. The Visual Analogic Scale (VAS) and Boston Carpal Tunnel Questionnaire (BCTQ) were performed at baseline, end of treatment and after three months. The group that received FM showed a significant reduction in subjective pain perception and an increased function assessed by BCTQ at the end of the treatment and follow-up. The group that received LLLT showed an improvement in the BCTQ at the end of the treatment but the improvement level was not sustained at the three month follow-up. FM is a valid alternative treatment for CTS.


title: An OFDMA based multiple access protocol with QoS guarantee for next generation WLAN

text: To provide better QoS guarantee for the next generation WLAN, IEEE 802.11ax task group is founded in March 2014. As a promising technology to accommodate multiple nodes concurrent transmissions in dense deployment scenario, orthogonal frequency division multiple access (OFDMA) will be adopted in IEEE 802.11ax with great possibility. In this paper, an OFDMA based multiple access protocol with QoS guarantee is proposed for the next generation WLAN. Firstly, a redundant access mechanism is given to increase the access success probability of the video traffic where the video stations can concurrently send multiple RTS packets in multiple subchannels. Secondly, a priority based resource allocation scheme is presented to let AP allocate more resources to the video stations. Simulation results show that our protocol outperforms the existing OFDMA based multiple access for IEEE 802.11ax (OMAX) protocol in terms of delay and delay jitter of video traffic in dense deployment scenario.


title: 10.6 THz figure-of-merit phase-change RF switches with embedded micro-heater

text: We report on GeTe-based phase-change RF switches with embedded micro-heater for thermal switching. With heater parasitics reduced, GeTe RF switches show onstate resistance of 0.05 ohm*mm and off-state capacitance of 0.3 pF/mm. The RF switch figure-of-merit is estimated to be 10.6 THz, which is about 15 times better than state-of-the-art silicon-on-insulator switches. With on-state resistance of 1 ohm and off-state capacitance of 15 fF, RF insertion loss was measured at <;0.2 dB, and isolation was >25 dB at 20 GHz, respectively. RF power handling was >5.6 W for both onand off-state of GeTe.


title: The Mediator complex: a central integrator of transcription

text: The RNA polymerase II (Pol II) enzyme transcribes all protein-coding and most non-coding RNA genes and is globally regulated by Mediator — a large, conformationally flexible protein complex with a variable subunit composition (for example, a four-subunit cyclin-dependent kinase 8 module can reversibly associate with it). These biochemical characteristics are fundamentally important for Mediator's ability to control various processes that are important for transcription, including the organization of chromatin architecture and the regulation of Pol II pre-initiation, initiation, re-initiation, pausing and elongation. Although Mediator exists in all eukaryotes, a variety of Mediator functions seem to be specific to metazoans, which is indicative of more diverse regulatory requirements.


title: From information security to ... business security?

text: This short opinion paper argues that information security, the discipline responsible for protecting a company's information assets against business risks, has now become such a crucial component of good Corporate Governance, that it should rather be called Business Security instead of Information Security. During the last year or two, driven by developments in the field of Corporate Governance, including IT Governance, it became apparent that the scope of Information Security is much wider than just (directly) protecting the data, information and software of a business. Such data, information and software had become invaluable assets of the business as a whole, and not properly protecting this information could have profound business and legal implications. Basically, the data and information of the business became its 'life blood', and compromising this life blood, could kill the business. Executive Management and Boards started realizing that Information Security Governance was becoming their direct responsibility, and that serious personal consequences, specifically legally, could flow from ignoring information security. Information security governance had become an


title: Support Vector Machines For Synthetic Aperture Radar Automatic Target Recognition

text: Algorithms that produce classifiers with large margins, such as support vector machines (SVMs), AdaBoost, etc. are receiving more and more attention in the literature. This paper presents a real application of SVMs for synthetic aperture radar automatic target recognition (SAR/ATR) and compares the result with conventional classifiers. The SVMs are tested for classification both in closed and open sets (recognition). Experimental results showed that SVMs outperform conventional classifiers in target classification. Moreover, SVMs with the Gaussian kernels are able to form a local " bounded " decision region around each class that presents better rejection to confusers.


title: A SiC-Based High-Efficiency Isolated Onboard PEV Charger With Ultrawide DC-Link Voltage Range

text: In LLC-based onboard battery charging architectures used in plug-in electric vehicles (PEV), the dc link voltage can be actively regulated to follow the battery pack voltage so that the LLC converter can operate in proximity of resonant frequency and achieve high efficiencies over the wide range of battery pack voltage. However, conventional boost-type power factor correction (PFC) converters are unable to provide ultrawide dc link voltages since their output voltages should always be larger than their input voltages. This paper proposes a Silicon Carbide (SiC)-based onboard PEV charger using single-ended primary-inductor converter (SEPIC) PFC converter followed by an isolated LLC resonant converter. With the proposed charger architecture, the SEPIC PFC converter is able to provide an ultrawide range for dc link voltage, and consequently enhance the efficiency of the LLC stage by ensuring operation in proximity of resonant frequency. A 1-kW SiC-based prototype is designed to validate the proposed idea. The experimental result shows that the SEPIC PFC converter achieves unity power factor, 2.72% total harmonic distortion, and 95.3% peak conversion efficiency. The LLC  converter achieves 97.1% peak efficiency and always demonstrates a very high efficiency across the ultrawide dc-link voltage range. The overall efficiency of the charger is 88.5% to 93.5% from 20% of the rated load to full load.


title: EKG-based key agreement in Body Sensor Networks

text: Preserving a person's privacy in an efficient manner is very important for critical, life-saving infrastructures like body sensor networks (BSN). This paper presents a novel key agreement scheme which allows two sensors in a BSN to agree to a common key generated using electrocardiogram (EKG) signals. This EKG-based key agreement (EKA) scheme aims to bring the "plug-n-play" paradigm to BSN security whereby simply deploying sensors on the subject can enable secure communication, without requiring any form of initialization such as pre-deployment. Analysis of the scheme based on real EKG data (obtained from MIT PhysioBank database) shows that keys resulting from EKA are: random, time variant, can be generated based on short-duration EKG measurements, identical for a given subject and different for separate individuals.


title: Wireless access monitoring and control system based on digital door lock

text: We propose a novel wireless access monitoring and control system based on the digital door lock, which is explosively used as a digital consumer device. Digital door lock is an electronic locking system operated by the combination of digital key, security password or number codes. This paper presents a prototype of the proposed system and shows a scheme for the implementation. To implement the system with ZigBee network protocol, four types of modules are developed, ZigBee module, digital door lock module, human detection module, and ZigBee relay module. ZigBee module is designed to support wireless sensor network and also used for the ZigBee tag to identify the access objects. Digital door lock module is implemented as a digital consumer device to control the access system as well as locking system. It is very convenient system for the consumers and has extensible and flexible characteristics. That is, it can be used as a home security system by the ZigBee network with additional sensor devices. Therefore, it can be a good practical product for the realization of an access monitoring and control system. It also can be applied to the real market for home networking system. Furthermore, the system can be extended to another service such as a connection between mobile phone and home networking system.


title: Code Conjurer: Pulling Reusable Software out of Thin Air

text: For many years, the IT industry has sought to accelerate the software development process by assembling new applications from existing software assets. However, true component-based reuse of the form Douglas Mcllroy envisaged in the 1960s is still the exception rather than the rule, and most of the systematic software reuse practiced today uses heavyweight approaches such as product-line engineering or domain-specific frameworks. By component, we mean any cohesive and compact unit of software functionality with a well-defined interface - from simple programming language classes to more complex artifacts such as Web services and Enterprise JavaBeans.


title: Synthetic aperture radar at millimeter wavelength for UAV surveillance applications

text: The airborne monitoring of scenes using unmanned aircrafts is becoming increasingly important. Several types of airborne sensors - in the optical, infrared or millimeter wave spectrum - are available for the different platforms. Beside the all-weather suitability of the sensors, the deployment scenarios, often also demand for the ability to look through dust clouds, smoke, and fog. The only sensor, which is capable to cope with such environmental restrictions and is able to deliver high-resolution images, is the synthetic aperture radar (SAR). In this paper we focus on miniaturized SAR systems which were developed and optimized for utilization in a UA V (unmanned aerial vehicle) with a low loading capacity. This not only requires a compact and light radar sensor but the processing also has to cope with the unstable flight conditions of a small aircraft. Therefore, a high-precision inertial measurement unit (IMU) and motion compensating SAR-algorithms are needed. Thanks to the utilization of a high transmit frequency of either 35 GHz or 94 GHz, the sensors are suitable for the detection of small-scale objects. A very high resolution of 15 cm × 15 cm can be achieved when using modern FMCW (frequency modulated continuous wave) generation with a high bandwidth (up to 1 GHz) in combination with small antennas.


title: Effect of rule weights in fuzzy rule-based classification systems

text: This paper examines the effect of rule weights in fuzzy rule-based classification systems. Each fuzzy IF–THEN rule in our classification system has antecedent linguistic values and a single consequent class. We use a fuzzy reasoning method based on a single winner rule in the classification phase. The winner rule for a new pattern is the fuzzy IF–THEN rule that has the maximum compatibility grade with the new pattern. When we use fuzzy IF–THEN rules with certainty grades (i.e., rule weights), the winner is determined as the rule with the maximum product of the compatibility grade and the certainty grade. In this paper, the effect of rule weights is illustrated by drawing classification boundaries using fuzzy IF–THEN rules with/without certainty grades. It is also shown that certainty grades play an important role when a fuzzy rule-based classification system is a mixture of general rules and specific rules. Through computer simulations, we show that comprehensible fuzzy rule-based systems with high classification performance can be designed without modifying the membership functions of antecedent linguistic values when we use fuzzy IF–THEN rules with certainty grades.


title: FindingHuMo: Real-Time Tracking of Motion Trajectories from Anonymous Binary Sensing in Smart Environments

text: In this paper we have proposed and designed FindingHuMo (Finding Human Motion), a real-time user tracking system for Smart Environments. FindingHuMo can perform device-free tracking of multiple (unknown and variable number of) users in the Hallway Environments, just from non-invasive and anonymous (not user specific) binary motion sensor data stream. The significance of our designed system are as follows: (a) fast tracking of individual targets from binary motion data stream from a static wireless sensor network in the infrastructure. This needs to resolve unreliable node sequences, system noise and path ambiguity, (b) Scaling for multi-user tracking where user motion trajectories may crossover with each other in all possible ways. This needs to resolve path ambiguity to isolate overlapping trajectories, FindingHumo applies the following techniques on the collected motion data stream: (i) a proposed motion data driven adaptive order Hidden Markov Model with Viterbi decoding (called Adaptive-HMM), and then (ii) an innovative path disambiguation algorithm (called CPDA). Using this methodology the system accurately detects and isolates motion trajectories of individual users. The system performance is illustrated with results from real-time system deployment experience in a Smart Environment.


title: On the role of color in the perception of motion in animated visualizations

text: Although luminance contrast plays a predominant role in motion perception, significant additional effects are introduced by chromatic contrasts. In this paper, relevant results from psychophysical and physiological research are described to clarify the role of color in motion detection. Interpreting these psychophysical experiments, we propose guidelines for the design of animated visualizations, and a calibration procedure that improves the reliability of visual motion representation. The guidelines are applied to examples from texture-based flow visualization, as well as graph and tree visualization.


title: Forward models and passive psychotic symptoms

text: Pickering and Clark (2014) present two ways of viewing the role of forward models in human cognition: the auxiliary forward model (AFM) account and the integral forward model (IFM) account. The AFM account “assumes a dedicated prediction mechanism implemented by additional circuitry distinct from the core mechanisms of perception and action” (p. 451). The standard AFM account exploits a corollary discharge from the motor command in order to compute the sensory consequences of the action. In contrast, on the IFM account, “perception itself involves the use of a forward (generative) model, whose role is to construct the incoming sensory signal ‘from the top down”’ (p. 453). Furthermore, within this account, motor commands are dispensed with: they are predictions that are fulfilled by movement as part of the prediction error minimization that is taken to govern all aspects of cognition (Adams et al., 2013). Pickering and Clark present two “testing grounds” for helping us adjudicate between IFMs and AFMs, which are committed to the idea, derived from Pickering’s own work, that one predicts others in a way that is similar to the way that one predicts oneself. Although I like this “prediction by simulation” account, in this commentary, I want to emphasize that neither the IFM nor the AFM accounts are necessarily wedded to it. A less committal, and hence perhaps more compelling, testing ground is to be found in psychotic symptoms, and the capacity of the two frameworks to account for them. Indeed, using psychosis to illustrate forward modelling is not new: the inability to self-tickle was taken to be convincing data for the presence of forward models (viewed, by default, within an AFM account), and in particular for problems with them in patients with diagnoses of schizophrenia (Frith et al., 2000). The AFM account has been used more generally to explain symptoms of schizophrenia. Something goes wrong with the generation of the forward model, and so the sensory consequences of selfgenerated stimuli are poorly predicted, and hence fail to be attenuated, and are, ultimately, misattributed to an external source. Although most have accepted this for delusions of control, some have questioned the application of this model to passive symptoms (Stephens and Graham, 2000), namely those which do not involve action, such as auditory verbal hallucinations (AVHs). If the symptoms of schizophrenia are explainable in terms of problems with an AFM, and this is constructed out of a motor command, then non-motoric (“passive”) symptoms cannot be so explained. One move has been to keep working within the AFM framework but claim that “passive” symptoms merely look passive: they are actually “active.” Several theorists (e.g., Jones and Fernyhough, 2007) have attempted to explain AVHs in terms of inner speech misattribution, where inner speech is taken to involve motoric elements. This motoric involvement has been empirically supported by several electromyographical (EMG) studies (which measured muscular activity during inner speech) some of which date as far back as the early 1930s (Jacobsen, 1931). Later experiments made the connection between inner speech and AVH, showing that similar muscular activation is involved in healthy inner speech and AVH (Gould, 1948). The involvement of motoric elements in both inner speech and in AVH is further supported by findings (Gould, 1950) showing that when subjects hallucinated, subvocalizations occurred which could be picked up with a throat microphone. That these subvocalizations were causally responsible for the inner speech allegedly implicated in AVHs, and not just echoing it, was suggested by data (Bick and Kinsbourne, 1987) demonstrating that if people experiencing hallucinations opened their mouths wide, stopping vocalizations, then the majority of AVHs stopped. However, this does not seem to capture all AVH subtypes. For example, Dodgson and Gordon (2009) convincingly present “hypervigilance hallucinations,” which are not based on self-generated stimuli, but constitute hypervigilant boosting and molding of external stimuli. As I have argued (Wilkinson, 2014) recently, one can account for both inner speech-based and hypervigilance hallucinations, within an IFM framework (although I called it a “Predictive Processing Framework”). Since it is good practice to support models that accommodate more phenomena, assuming (as seems plausible) that hypervigilance hallucinations are a genuine subtype of AVH, the IFM account is preferable to the AFM account. In conclusion, although I agree with Pickering and Clark that the IFM account is preferable, I do so on the basis of a


title: Finding objects for blind people based on SURF features

text: Nowadays computer vision technology is helping the visually impaired by recognizing objects in their surroundings. Unlike research of navigation and wayfinding, there are no camera-based systems available in the market to find personal items for the blind. This paper proposes an object recognition method to help blind people find missing items using Speeded-Up Robust Features (SURF). SURF features can extract distinctive invariant features that can be utilized to perform reliable matching between different images in multiple scenarios. These features are invariant to image scale, translation, rotation, illumination, and partial occlusion. The proposed recognition process begins by matching individual features of the user queried object to a database of features with different personal items which are saved in advance. Experiment results demonstrate the effectiveness and efficiency of the proposed method.


title: UAV vision aided positioning system for location and landing

text: The research and use of UAVs (Unmanned Aerial Vehicles) have grown in attention and new ideas in the last couple of decades, mainly due to technology improvement of its construction parts, sensors and controllers. When it comes to its autonomous behavior, robust techniques make themselves necessary to assure the security of the aircraft and people around it. This work presents the use of computer vision techniques to improve the positioning of a quadrotor UAV in the landing moment, adding security and precision, overcoming intrinsic errors of other positioning sensors, such as GPS. A landmark was built to be detected by the camera with contour detection, image thresholding and other mathematical techniques in order to obtain fast, simple and robust processing and results. A GoPro camera model was used with a developed algorithm to remove the image distortion. With this set up, the vehicle can be programmed to develop any mission, with this works control algorithm taking part with the vision aided positioning in the landing moment. The quadrotor was conceived and built at the GRIn (Grupo de Robtica Inteligente) laboratory at UFJF (Juiz de Fora Federal University), and uses open source code for its control, with Mavlink communication protocol to exchange messages with the vision-based control algorithm for mission and landing. This algorithm was developed in Python language, and is in charge of image characteristics segmentation, extracting distances and altitude from the data. The control commands are sent to the quadrotor using the mentioned protocol. The system is structured with a remote laptop connected with a serial port to the quadrotor, and a router transmits messages back and forth among the GCS (Ground Control Station, on the laptop) and the high-level control algorithm (mission planning and vision based control) through TCP ports to the quadrotor itself. The camera is connected via Wi-Fi built-in network to the laptop, so all the image processing is done inside the last one. The results obtained in outdoor tests show the efficacy and fast processing of the vision methods and ensure safety in the landing moment. Furthermore, the positioning techniques can be extended to other UAV applications, such as transmission lines and utility equipment inspection and monitoring. Future works look forward to embedding the process in a companion board attached to the UAV, so the process would become automatic and the risk of communication interference and lost heavily reduced.


title: On semi-supervised linear regression in covariate shift problems

text: Semi-supervised learning approaches are trained using the full training (labeled) data and available testing (unlabeled) data. Demonstrations of the value of training with unlabeled data typically depend on a smoothness assumption relating the conditional expectation to high density regions of the marginal distribution and an inherent missing completely at random assumption for the labeling. So-called covariate shift poses a challenge for many existing semi-supervised or supervised learning techniques. Covariate shift models allow the marginal distributions of the labeled and unlabeled feature data to differ, but the conditional distribution of the response given the feature data is the same. An example of this occurs when a complete labeled data sample and then an unlabeled sample are obtained sequentially, as it would likely follow that the distributions of the feature data are quite different between samples. The value of using unlabeled data during training for the elastic net is justified geometrically in such practical covariate shift problems. The approach works by obtaining adjusted coefficients for unlabeled prediction which recalibrate the supervised elastic net to compromise: (i) maintaining elastic net predictions on the labeled data with (ii) shrinking unlabeled predictions to zero. Our approach is shown to dominate linear supervised alternatives on unlabeled response predictions when the unlabeled feature data are concentrated on a low dimensional manifold away from the labeled data and the true coefficient vector emphasizes directions away from this manifold. Large variance of the supervised predictions on the unlabeled set is reduced more than the increase in squared bias when the unlabeled responses are expected to be small, so an improved compromise within the bias-variance tradeoff is the rationale for this performance improvement. Performance is validated on simulated and real data.


of Thesis Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Master of Arts VIDEO GAMES: PERSPECTIVE, POINT-OF-VIEW, AND IMMERSION By Laurie N. Taylor May 2002 Chair: Dr. Terry Harpold Department: English Presently, video game designers, players, and often even video game theorists approach the representation of point-of-view in video games as intuitive and uncomplicated. Drawing on the current critical work on video games, theories of immersion and engagement, and theories of human-computer-interaction, I question the significance of optical perspective in video games in terms of player point-of-view. Because video games are an experiential medium, critical study of video games must include the study of the diegetic, visual-auditory, interface, and experiential (often termed interactive or participatory) aspects of video game play. Through an analysis of the various points-of-view within different games and the differing points-of-view within a single game, I attempt to delineate the differences both in the creation of the experiential game space and in the possibilities for immersion within the game space. For this, I delimit two types of immersion: diegetic immersion, which corresponds to immersion in the game, and intra-diegetic or situated immersion, which corresponds to immersion


title: Sensorless speed control of a PM synchronous motor based on sliding mode observer and extended Kalman filter

text: In this paper a method for rotor speed and position detection in permanent magnet synchronous motors is presented, suitable for applications where low speed and standstill operations are not required. The approach is based on the estimation of the motor back-EMF through a sliding mode observer and a cascaded Kalman filtering. Due to its characteristics, the technique can be applied to motors having distorted and whatever shaped back-EMF waveform. The equation error for the rotor position estimation is derived and discussed. Test results are presented, which show the system performance including start-up capability, which is one of the most critical conditions in back-EMF based sensorless schemes.


title: Back EMF Sensorless-Control Algorithm for High-Dynamic Performance PMSM

text: In this paper, a low-time-consuming and low-cost sensorless-control algorithm for high-dynamic performance permanent-magnet synchronous motors, both surface and internal permanent-magnet mounted for position and speed estimation, is introduced, discussed, and experimentally validated. This control algorithm is based on the estimation of rotor speed and angular position starting from the back electromotive force space-vector determination without voltage sensors by using the reference voltages given by the current controllers instead of the actual ones. This choice obviously introduces some errors that must be vanished by means of a compensating function. The novelties of the proposed estimation algorithm are the position-estimation equation and the process of compensation of the inverter phase lag that also suggests the final mathematical form of the estimation. The mathematical structure of the estimation guarantees a high degree of robustness against parameter variation as shown by the sensitivity analysis reported in this paper. Experimental verifications of the proposed sensorless-control system have been made with the aid of a flexible test bench for brushless motor electrical drives. The test results presented in this paper show the validity of the proposed low-cost sensorless-control algorithm and, above all, underline the high dynamic performances of the sensorless-control system also with a reduced equipment.


title: Mechanical sensorless control of PMSM with online estimation of stator resistance

text: This paper provides an improvement in sensorless control performance of nonsalient-pole permanent-magnet synchronous machines. To ensure sensorless operation, most of the existing methods require that the initial position error as well as the parameters uncertainties must be limited. In order to overcome these drawbacks, we study them analytically and present a solution using an online identification method which is easy to implement and is highly stable. A stability analysis based on Lyapunov's linearization method shows the stability of the closed-loop system with the proposed estimator combined with the sensorless algorithm. This approach does not need a well-known initial rotor position and makes the sensorless control more robust with respect to the stator resistance variations at low speed. The simulation and experimental results illustrate the validity of the analytical approach and the efficiency of the proposed method.


title: Lyapunov-function-based flux and speed observer for AC induction motor sensorless control and parameters estimation

text: AC induction motors have become very popular for motion-control applications due to their simple and reliable construction. Control of drives based on ac induction motors is a quite complex task. Provided the vector-control algorithm is used, not only the rotor speed but also the position of the magnetic flux inside the motor during the control process should be known. In most applications, the flux sensors are omitted and the magnetic-flux phasor position has to be calculated. However, there are also applications in which even speed sensors should be omitted. In such a situation, the task of state reconstruction can be solved only from voltage and current measurements. In the current paper, a method based on deterministic evaluation of measurement using the state observer based on the Lyapunov function is presented. The method has been proven in testing on a real ac induction machine.


title: DSP-based speed adaptive flux observer of induction motor

text: A method of estimating the speed of an induction motor is presented. This method is based on the adaptive control theory. Experimental results of a direct field oriented induction motor control without speed sensors are presented.<<ETX>>


title: Transfer Learning from Deep Features for Remote Sensing and Poverty Mapping

text: The lack of reliable data in developing countries is a major obstacle to sustainable development, food security, and disaster relief. Poverty data, for example, is typically scarce, sparse in coverage, and labor-intensive to obtain. Remote sensing data such as high-resolution satellite imagery, on the other hand, is becoming increasingly available and inexpensive. Unfortunately, such data is highly unstructured and currently no techniques exist to automatically extract useful insights to inform policy decisions and help direct humanitarian efforts. We propose a novel machine learning approach to extract large-scale socioeconomic indicators from highresolution satellite imagery. The main challenge is that training data is very scarce, making it difficult to apply modern techniques such as Convolutional Neural Networks (CNN). We therefore propose a transfer learning approach where nighttime light intensities are used as a data-rich proxy. We train a fully convolutional CNN model to predict nighttime lights from daytime imagery, simultaneously learning features that are useful for poverty prediction. The model learns filters identifying different terrains and man-made structures, including roads, buildings, and farmlands, without any supervision beyond nighttime lights. We demonstrate that these learned features are highly informative for poverty mapping, even approaching the predictive performance of survey data collected in the field.


title: Deep learning methods for knowledge base population

text: xxi Zusammenfassung xxiii


title: Structural Balance Theory-Based E-Commerce Recommendation over Big Rating Data

text: Recommending appropriate product items to the target user is becoming the key to ensure continuous success of E-commerce. Today, many E-commerce systems adopt various recommendation techniques, e.g., Collaborative Filtering (abbreviated as CF)-based technique, to realize product item recommendation. Overall, the present CF recommendation can perform very well, if the target user owns similar friends (user-based CF), or the product items purchased and preferred by target user own one or more similar product items (item-based CF). While due to the sparsity of big rating data in E-commerce, similar friends and similar product items may be both absent from the user-product purchase network, which lead to a big challenge to recommend appropriate product items to the target user. Considering the challenge, we put forward a Structural Balance Theory-based Recommendation (i.e., SBT-Rec) approach. In the concrete, (I) user-based recommendation: we look for target user's “enemy” (i.e., the users having opposite preference with target user); afterwards, we determine target user's “possible friends”, according to “enemy's enemy is a friend” rule of Structural Balance Theory, and recommend the product items preferred by “possible friends” of target user to the target user. (II) likewise, for the product items purchased and preferred by target user, we determine their “possibly similar product items” based on Structural Balance Theory and recommend them to the target user. At last, the feasibility of SBT-Rec is validated, through a set of experiments deployed on MovieLens-1M dataset.


title: Improved Localization of Cortical Activity By Combining EEG and MEG with MRI Cortical Surface Reconstruction

text: We describe a comprehensive linear approach to the problem of imaging brain activity with high temporal as well as spatial resolution based on combining EEG and MEG data with anatomical constraints derived from MRI images. The “ inverse problem” of estimating the distribution of dipole strengths over the cortical surface is highly underdetermined, even given closely spaced EEG and MEG recordings. We have obtained much better solutions to this problem by explicitly incorporating both local cortical orientation as well as spatial covariance of sources and sensors into our for-


title: Modified Firefly Algorithm

text: Firefly algorithm is one of the new metaheuristic algorithms for optimization problems. The algorithm is inspired by the flashing behavior of fireflies. In the algorithm, randomly generated solutions will be considered as fireflies, and brightness is assigned depending on their performance on the objective function. One of the rules used to construct the algorithm is, a firefly will be attracted to a brighter firefly, and if there is no brighter firefly, it will move randomly. In this paper we modify this random movement of the brighter firefly by generating random directions in order to determine the best direction in which the brightness increases. If such a direction is not generated, it will remain in its current position. Furthermore the assignment of attractiveness is modified in such a way that the effect of the objective function is magnified. From the simulation result it is shown that the modified firefly algorithm performs better than the standard one in finding the best solution with smaller CPU time.


title: Real-time human gesture grading based on OpenPose

text: In this paper, we presented a real-time 2D human gesture grading system from monocular images based on OpenPose, a library for real-time multi-person keypoint detection. After capturing 2D positions of a person's joints and skeleton wireframe of the body, the system computed the equation of motion trajectory for every joint. Similarity metric was defined as distance between motion trajectories of standard and real-time videos. A modifiable scoring formula was used for simulating the gesture grading scenario. Experimental results showed that the system worked efficiently with high real-time performance, low cost of equipment and strong robustness to the interference of noise.


title: The effectiveness of yoga in modifying risk factors for cardiovascular disease and metabolic syndrome: A systematic review and meta-analysis of randomized controlled trials.

text:
BACKGROUND
Yoga, a popular mind-body practice, may produce changes in cardiovascular disease (CVD) and metabolic syndrome risk factors.

DESIGN
This was a systematic review and random-effects meta-analysis of randomized controlled trials (RCTs).

METHODS
Electronic searches of MEDLINE, EMBASE, CINAHL, PsycINFO, and The Cochrane Central Register of Controlled Trials were performed for systematic reviews and RCTs through December 2013. Studies were included if they were English, peer-reviewed, focused on asana-based yoga in adults, and reported relevant outcomes. Two reviewers independently selected articles and assessed quality using Cochrane's Risk of Bias tool.

RESULTS
Out of 1404 records, 37 RCTs were included in the systematic review and 32 in the meta-analysis. Compared to non-exercise controls, yoga showed significant improvement for body mass index (-0.77 kg/m(2) (95% confidence interval -1.09 to -0.44)), systolic blood pressure (-5.21 mmHg (-8.01 to -2.42)), low-density lipoprotein cholesterol (-12.14 mg/dl (-21.80 to -2.48)), and high-density lipoprotein cholesterol (3.20 mg/dl (1.86 to 4.54)). Significant changes were seen in body weight (-2.32 kg (-4.33 to -0.37)), diastolic blood pressure (-4.98 mmHg (-7.17 to -2.80)), total cholesterol (-18.48 mg/dl (-29.16 to -7.80)), triglycerides (-25.89 mg/dl (-36.19 to -15.60), and heart rate (-5.27 beats/min (-9.55 to -1.00)), but not fasting blood glucose (-5.91 mg/dl (-16.32 to 4.50)) nor glycosylated hemoglobin (-0.06% Hb (-0.24 to 0.11)). No significant difference was found between yoga and exercise. One study found an impact on smoking abstinence.

CONCLUSIONS
There is promising evidence of yoga on improving cardio-metabolic health. Findings are limited by small trial sample sizes, heterogeneity, and moderate quality of RCTs.


title: Automated Scoring: Beyond Natural Language Processing

text: In this position paper, we argue that building operational automated scoring systems is a task that has disciplinary complexity above and beyond standard competitive shared tasks which usually involve applying the latest machine learning techniques to publicly available data in order to obtain the best accuracy. Automated scoring systems warrant significant cross-discipline collaboration of which natural language processing and machine learning are just two ofmany important components. Such systems have multiple stakeholders with different but valid perspectives that can often times be at odds with each other. Our position is that it is essential for us as NLP researchers to understand and incorporate these perspectives into our research and work towards a mutually satisfactory solution in order to build automated scoring systems that are accurate, fair, unbiased, and useful. 1 What is Automated Scoring? Automated scoring is an NLP application usually deployed in the educational domain. It involves automatically analyzing a student’s response to a question and generating either (a) a score in order to assess the student’s knowledge and/or other skills and/or (b) some actionable feedback on how the student can improve the response (Page, 1966; Burstein et al., 1998; Burstein et al., 2004; Zechner et al., 2009; Bernstein et al., 2010). It is considered an NLP application since typically the core technology behind the automated analysis of the student response enlists NLP techniques. The student responses can include essays, short answers, or spoken responses and the two most common kinds of automated scoring are the automated evaluation of writing quality and content knowledge. Both the scores and feedback are usually based on linguistic characteristics of the responses including but not limited to: (i) Lower-level errors in the response (e.g., pronunciation errors in spoken responses and grammatical/spelling errors in written responses), (ii) The discourse structure and/or organization of the response, (iii) Relevance of the response to the question that was asked.


title: Software risk management barriers: An empirical study

text: This paper reports results from a survey of experienced project managers on their perception of software risk management. From a sample of 18 experienced project managers, we have found good awareness of risk management, but low tool usage. We offer evidence that the main barriers to performing risk management are related to its perceived high cost and comparative low value. Psychological issues are also important, but less so. Risk identification and monitoring, in particular, are perceived as effort intensive and costly. The perception is that risk management is not prioritised highly enough. Our conclusion is that more must be done to visibly prove the value : cost ratio for risk management activities.


title: Football analysis using spatio-temporal tools

text: Analysing a football match is without doubt an important task for coaches, talent scouts, players and even media; and with current technologies more and more match data is collected. Several companies offer the ability to track the position of the players and the ball with high accuracy and high resolution. They also offer software that include basic analysis tools, for example straight-forward statistics about distance run and number of passes. It is, however, a non-trivial task to perform more advanced analysis. We present a collection of tools that we developed specifically for analysing the performance of football players and teams.


title: DNA Cryptography and Deep Learning using Genetic Algorithm with NW algorithm for Key Generation

text: Cryptography is not only a science of applying complex mathematics and logic to design strong methods to hide data called as encryption, but also to retrieve the original data back, called decryption. The purpose of cryptography is to transmit a message between a sender and receiver such that an eavesdropper is unable to comprehend it. To accomplish this, not only we need a strong algorithm, but a strong key and a strong concept for encryption and decryption process. We have introduced a concept of DNA Deep Learning Cryptography which is defined as a technique of concealing data in terms of DNA sequence and deep learning. In the cryptographic technique, each alphabet of a letter is converted into a different combination of the four bases, namely; Adenine (A), Cytosine (C), Guanine (G) and Thymine (T), which make up the human deoxyribonucleic acid (DNA). Actual implementations with the DNA don’t exceed laboratory level and are expensive. To bring DNA computing on a digital level, easy and effective algorithms are proposed in this paper. In proposed work we have introduced firstly, a method and its implementation for key generation based on the theory of natural selection using Genetic Algorithm with Needleman-Wunsch (NW) algorithm and Secondly, a method for implementation of encryption and decryption based on DNA computing using biological operations Transcription, Translation, DNA Sequencing and Deep Learning.


title: Robust Non-Intrusive Load Monitoring (NILM) with unknown loads

text: A Non-Intrusive Load Monitoring (NILM) method, robust even in the presence of unlearned or unknown appliances (UUAs) is presented in this paper. In the absence of such UUAs, this NILM algorithm is capable of accurately identifying each of the turned-ON appliances as well as their energy levels. However, when there is an UUA or set of UUAs are turned-ON during a particular time window, proposed NILM method detects their presence. This enables the operator to detect presence of anomalies or unlearned appliances in a household. This quality increases the reliability of the NILM strategy and makes it more robust compared to existing NILM methods. The proposed Robust NILM strategy (RNILM) works accurately with a single active power measurement taken at a low sampling rate as low as one sample per second. Here first, a unique set of features for each appliance was extracted through decomposing their active power signal traces into uncorrelated subspace components (SCs) via a high-resolution implementation of the Karhunen-Loeve (KLE). Next, in the appliance identification stage, through considering power levels of the SCs, the number of possible appliance combinations were rapidly reduced. Finally, through a Maximum a Posteriori (MAP) estimation, the turned-ON appliance combination and/or the presence of UUA was determined. The proposed RNILM method was validated using real data from two public databases: Reference Energy Disaggregation Dataset (REDD) and Tracebase. The presented results demonstrate the capability of the proposed RNILM method to identify, the turned-ON appliance combinations, their energy level disaggregation as well as the presence of UUAs accurately in real households.


title: A novel SVM-kNN-PSO ensemble method for intrusion detection system

text: In machine learning, a combination of classifiers, known as an ensemble classifier, often outperforms individual ones. While many ensemble approaches exist, it remains, however, a difficult task to find a suitable ensemble configuration for a particular dataset. This paper proposes a novel ensemble construction method that uses PSO generated weights to create ensemble of classifiers with better accuracy for intrusion detection. Local unimodal sampling (LUS) method is used as a meta-optimizer to find better behavioral parameters for PSO. For our empirical study, we took five random subsets from the well-known KDD99 dataset. Ensemble classifiers are created using the new approaches as well as the weighted majority algorithm (WMA) approach. Our experimental results suggest that the new approach can generate ensembles that outperform WMA in terms of classification accuracy . © 2015 Published by Elsevier B.V. US ultiple classifier ptimization SO 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 VM eighted majority voting (WMV) MA


title: The thoracolumbar fascia: anatomy, function and clinical considerations.

text: In this overview, new and existent material on the organization and composition of the thoracolumbar fascia (TLF) will be evaluated in respect to its anatomy, innervation biomechanics and clinical relevance. The integration of the passive connective tissues of the TLF and active muscular structures surrounding this structure are discussed, and the relevance of their mutual interactions in relation to low back and pelvic pain reviewed. The TLF is a girdling structure consisting of several aponeurotic and fascial layers that separates the paraspinal muscles from the muscles of the posterior abdominal wall. The superficial lamina of the posterior layer of the TLF (PLF) is dominated by the aponeuroses of the latissimus dorsi and the serratus posterior inferior. The deeper lamina of the PLF forms an encapsulating retinacular sheath around the paraspinal muscles. The middle layer of the TLF (MLF) appears to derive from an intermuscular septum that developmentally separates the epaxial from the hypaxial musculature. This septum forms during the fifth and sixth weeks of gestation. The paraspinal retinacular sheath (PRS) is in a key position to act as a 'hydraulic amplifier', assisting the paraspinal muscles in supporting the lumbosacral spine. This sheath forms a lumbar interfascial triangle (LIFT) with the MLF and PLF. Along the lateral border of the PRS, a raphe forms where the sheath meets the aponeurosis of the transversus abdominis. This lateral raphe is a thickened complex of dense connective tissue marked by the presence of the LIFT, and represents the junction of the hypaxial myofascial compartment (the abdominal muscles) with the paraspinal sheath of the epaxial muscles. The lateral raphe is in a position to distribute tension from the surrounding hypaxial and extremity muscles into the layers of the TLF. At the base of the lumbar spine all of the layers of the TLF fuse together into a thick composite that attaches firmly to the posterior superior iliac spine and the sacrotuberous ligament. This thoracolumbar composite (TLC) is in a position to assist in maintaining the integrity of the lower lumbar spine and the sacroiliac joint. The three-dimensional structure of the TLF and its caudally positioned composite will be analyzed in light of recent studies concerning the cellular organization of fascia, as well as its innervation. Finally, the concept of a TLC will be used to reassess biomechanical models of lumbopelvic stability, static posture and movement.


title: SURF-Face: Face Recognition Under Viewpoint Consistency Constraints

text: We analyze the usage of Speeded Up Robust Features (SURF) as local descriptors for face recognition. The effect of different feature extraction and viewpoint consistency constrained matching approaches are analyzed. Furthermore, a RANSAC based outlier removal for system combination is proposed. The proposed approach allows to match faces under partial occlusions, and even if they are not perfectly aligned or illuminated. Current approaches are sensitive to registration errors and usually rely on a very good initial alignment and illumination of the faces to be recognized. A grid-based and dense extraction of local features in combination with a block-based matching accounting for different viewpoint constraints is proposed, as interest-point based feature extraction approaches for face recognition often fail. The proposed SURF descriptors are compared to SIFT descriptors. Experimental results on the AR-Face and CMU-PIE database using manually aligned faces, unaligned faces, and partially occluded faces show that the proposed approach is robust and can outperform current generic approaches.


title: Trefoil Torus Knot Monopole Antenna

text: A wideband and simple torus knot monopole antenna is presented in this letter. The antenna is fabricated using additive manufacturing technology, commonly known as 3-D printing. The antenna is mechanically simple to fabricate and has stable radiation pattern as well as input reflection coefficient below -10 dB over a frequency range of 1-2 GHz. A comparison of measured and simulated performance of the antenna is also presented.


title: Human Body Posture Classification by a Neural Fuzzy Network and Home Care System Application

text: A new classification approach for human body postures based on a neural fuzzy network is proposed in this paper, and the approach is applied to detect emergencies that are caused by accidental falls. Four main body postures are used for posture classification, including standing, bending, sitting, and lying. After the human body is segmented from the background, the classification features are extracted from the silhouette. The body silhouette is projected onto horizontal and vertical axes, and then, a discrete Fourier transform is applied to each projected histogram. Magnitudes of significant Fourier transform coefficients together with the silhouette length-width ratio are used as features. The classifier is designed by a neural fuzzy network. The four postures can be classified with high accuracy according to experimental results. Classification results are also applicable to home care emergency detection of a person who suddenly falls and remains in the lying posture for a period of time due to experiments that were performed.


title: CORE: Context-Aware Open Relation Extraction with Factorization Machines

text: We propose CORE, a novel matrix factorization model that leverages contextual information for open relation extraction. Our model is based on factorization machines and integrates facts from various sources, such as knowledge bases or open information extractors, as well as the context in which these facts have been observed. We argue that integrating contextual information—such as metadata about extraction sources, lexical context, or type information—significantly improves prediction performance. Open information extractors, for example, may produce extractions that are unspecific or ambiguous when taken out of context. Our experimental study on a large real-world dataset indicates that CORE has significantly better prediction performance than state-ofthe-art approaches when contextual information is available.


title: Urethrocutaneous fistula repair after hypospadias surgery.

text:
OBJECTIVE
To evaluate and compare the success rates of simple and layered repairs of urethrocutaneous fistulae after hypospadias repair.

PATIENTS AND METHODS
The charts of 72 children who developed fistulae after hypospadias repair were reviewed; 39 had a simple closure of the fistula, whereas 32 had a 'pants over vest' repair, in all cases after excluding an impairment of urine outflow.

RESULTS
The success rate at the first attempt was 74% for simple closure and 94% for the layered repair; at the second attempt it was 80% and 100%, the difference being statistically significant for both repairs.

CONCLUSIONS
Although probably far from an optimal technique for repairing urethrocutaneous fistulae, the pants-over-vest repair allows a good success rate for penile shaft fistulae.


title: Directly Fabricating Soft Robotic Actuators With an Open-Source 3-D Printer

text: 3-D printing silicone has been a long sought for goal by roboticists. Fused deposition manufacturing (FDM) is a readily accessible and simple 3-D printing scheme that could hold the key to printing silicone. This study details an approach to 3-D print silicone elastomer through use of a thickening additive and heat curing techniques. We fabricated an identical control actuator using molding and 3-D printing techniques for comparison. By comparing the free space elongation and fixed length force of both actuators, we were able to evaluate the quality of the print. We observed that the 3-D printed linear actuator was able to perform similarly to the molded actuator, with an average error of 5.08% in actuator response, establishing the feasibility of such a system. We envision that further development of this system would contribute to the way soft robotic systems are fabricated.