Query: Flower classification based on local and spatial visual cues

Relevant passages:
Beyond Bags of Features: Spatial Pyramid Matching for Recognizing Natural Scene Categories <=SEP=> This paper presents a method for recognizing scene categories based on approximate global geometric correspondence. This technique works by partitioning the image into increasingly fine sub-regions and computing histograms of local features found inside each sub-region. The resulting "spatial pyramid" is a simple and computationally efficient extension of an orderless bag-of-features image representation, and it shows significantly improved performance on challenging scene categorization tasks. Specifically, our proposed method exceeds the state of the art on the Caltech-101 database and achieves high accuracy on a large database of fifteen natural scene categories. The spatial pyramid framework also offers insights into the success of several recently proposed image descriptions, including Torralba’s "gist" and Lowe’s SIFT descriptors.

LIBLINEAR: A Library for Large Linear Classification <=SEP=> LIBLINEAR is an open source library for large-scale linear classification. It supports logistic regression and linear support vector machines. We provide easy-to-use command-line tools and library calls for users and developers. Comprehensive documents are available for both beginners and advanced users. Experiments demonstrate that LIBLINEAR is very efficient on large sparse data sets.

Visual Categorization with Bags of Keypoints <=SEP=> We present a novel method for generic visual categorization: the problem of identifying the object content of natural images while generalizing across variations inherent to the object class. This bag of keypoints method is based on vector quantization of affine invariant descriptors of image patches. We propose and compare two alternative implementations using different classifiers: Naïve Bayes and SVM. The main advantages of the method are that it is simple, computationally efficient and intrinsically invariant. We present results for simultaneously classifying seven semantic visual categories. These results clearly demonstrate that the method is robust to background clutter and produces good categorization accuracy even without exploiting geometric information.

CSIFT: A SIFT Descriptor with Color Invariant Characteristics <=SEP=> SIFT has been proven to be the most robust local invariant feature descriptor. SIFT is designed mainly for gray images. However, color provides valuable information in object description and matching tasks. Many objects can be misclassified if their color contents are ignored. This paper addresses this problem and proposes a novel colored local invariant feature descriptor. Instead of using the gray space to represent the input image, the proposed approach builds the SIFT descriptors in a color invariant space. The built Colored SIFT (CSIFT) is more robust than the conventional SIFT with respect to color and photometrical variations. The evaluation results support the potential of the proposed approach.

Fast Pose Estimation with Parameter-Sensitive Hashing <=SEP=> Example-basedmethodsareeffectivefor parameterestimationproblemswhentheunderlyingsystemis simpleor thedimensionalityof the input is low. For complex andhigh-dimensional problemssuch asposeestimation,thenumberof required examplesand the computationalcomplexity rapidly becmeprohibitivelyhigh. We introducea new algorithm that learnsa setof hashingfunctionsthat efficiently index examplesrelevant to a particular estimationtask. Our algorithm extendsa recentlydevelopedmethodfor locality-sensitivehashing, which findsapproximateneighborsin timesublinearin thenumber of examples.Thismethoddependscritically on thechoiceof hashfunctions;weshowhowto find thesetof hashfunctions thatare optimallyrelevantto a particular estimationproblem.Experimentsdemonstr atethat theresultingalgorithm,which wecall Parameter -SensitiveHashing, canrapidlyandaccuratelyestimatethearticulatedposeof humanfiguresfroma large databaseof exampleimages. 0Part of thiswork wasdonewhenG.S.andP.V. werewith MitsubishiElectricResearchLabs,Cambridge,MA.

Short-Term Load Forecasting Using EMD-LSTM Neural Networks with a Xgboost Algorithm for Feature Importance Evaluation <=SEP=> Accurate load forecasting is an important issue for the reliable and efficient operation of a power system. This study presents a hybrid algorithm that combines similar days (SD) selection, empirical mode decomposition (EMD), and long short-term memory (LSTM) neural networks to construct a prediction model (i.e., SD-EMD-LSTM) for short-term load forecasting. The extreme gradient boosting-based weighted k-means algorithm is used to evaluate the similarity between the forecasting and historical days. The EMD method is employed to decompose the SD load to several intrinsic mode functions (IMFs) and residual. Separated LSTM neural networks were also employed to forecast each IMF and residual. Lastly, the forecasting values from each LSTM model were reconstructed. Numerical testing demonstrates that the SD-EMD-LSTM method can accurately forecast the electric load.

Short-term memory, working memory, and executive functioning in preschoolers: longitudinal predictors of mathematical achievement at age 7 years. <=SEP=> This study examined whether measures of short-term memory, working memory, and executive functioning in preschool children predict later proficiency in academic achievement at 7 years of age (third year of primary school). Children were tested in preschool (M age = 4 years, 6 months) on a battery of cognitive measures, and mathematics and reading outcomes (from standardized, norm-referenced school-based assessments) were taken on entry to primary school, and at the end of the first and third year of primary school. Growth curve analyses examined predictors of math and reading achievement across the duration of the study and revealed that better digit span and executive function skills provided children with an immediate head start in math and reading that they maintained throughout the first three years of primary school. Visual-spatial short-term memory span was found to be a predictor specifically of math ability. Correlational and regression analyses revealed that visual short-term and working memory were found to specifically predict math achievement at each time point, while executive function skills predicted learning in general rather than learning in one specific domain. The implications of the findings are discussed in relation to further understanding the role of cognitive skills in different mathematical tasks, and in relation to the impact of limited cognitive skills in the classroom environment.

Energy-Brushes: Interactive Tools for Illustrating Stylized Elemental Dynamics <=SEP=> Dynamic effects such as waves, splashes, fire, smoke, and explosions are an integral part of stylized animations. However, such dynamics are challenging to produce, as manually sketching key-frames requires significant effort and artistic expertise while physical simulation tools lack sufficient expressiveness and user control. We present an interactive interface for designing these elemental dynamics for animated illustrations. Users draw with coarse-scale energy brushes which serve as control gestures to drive detailed flow particles which represent local velocity fields. These fields can convey both realistic and artistic effects based on user specification. This painting metaphor for creating elemental dynamics simplifies the process, providing artistic control, and preserves the fluidity of sketching. Our system is fast, stable, and intuitive. An initial user evaluation shows that even novice users with no prior animation experience can create intriguing dynamics using our system.

The short-form McGill pain questionnaire <=SEP=> A short form of the McGill Pain Questionnaire (SF-MPQ) has been developed. The main component of the SF-MPQ consists of 15 descriptors (11 sensory; 4 affective) which are rated on an intensity scale as 0 = none, 1 = mild, 2 = moderate or 3 = severe. Three pain scores are derived from the sum of the intensity rank values of the words chosen for sensory, affective and total descriptors. The SF-MPQ also includes the Present Pain Intensity (PPI) index of the standard MPQ and a visual analogue scale (VAS). The SF-MPQ scores obtained from patients in post-surgical and obstetrical wards and physiotherapy and dental departments were compared to the scores obtained with the standard MPQ. The correlations were consistently high and significant. The SF-MPQ was also shown to be sufficiently sensitive to demonstrate differences due to treatment at statistical levels comparable to those obtained with the standard form. The SF-MPQ shows promise as a useful tool in situations in which the standard MPQ takes too long to administer, yet qualitative information is desired and the PPI and VAS are inadequate.

X10: an object-oriented approach to non-uniform cluster computing <=SEP=> It is now well established that the device scaling predicted by Moore's Law is no longer a viable option for increasing the clock frequency of future uniprocessor systems at the rate that had been sustained during the last two decades. As a result, future systems are rapidly moving from uniprocessor to multiprocessor configurations, so as to use parallelism instead of frequency scaling as the foundation for increased compute capacity. The dominant emerging multiprocessor structure for the future is a Non-Uniform Cluster Computing (NUCC) system with nodes that are built out of multi-core SMP chips with non-uniform memory hierarchies, and interconnected in horizontally scalable cluster configurations such as blade servers. Unlike previous generations of hardware evolution, this shift will have a major impact on existing software. Current OO language facilities for concurrent and distributed programming are inadequate for addressing the needs of NUCC systems because they do not support the notions of non-uniform data access within a node, or of tight coupling of distributed nodes.We have designed a modern object-oriented programming language, X10, for high performance, high productivity programming of NUCC systems. A member of the partitioned global address space family of languages, X10 highlights the explicit reification of locality in the form of places}; lightweight activities embodied in async, future, foreach, and ateach constructs; a construct for termination detection (finish); the use of lock-free synchronization (atomic blocks); and the manipulation of cluster-wide global data structures. We present an overview of the X10 programming model and language, experience with our reference implementation, and results from some initial productivity comparisons between the X10 and Java™ languages.

Musculoskeletal symptoms among mobile hand-held device users and their relationship to device use: A preliminary study in a Canadian university population. <=SEP=> The study aims were, in a population of university students, staff, and faculty (n = 140), to: 1) determine the distribution of seven measures of mobile device use; 2) determine the distribution of musculoskeletal symptoms of the upper extremity, upper back and neck; and 3) assess the relationship between device use and symptoms. 137 of 140 participants (98%) reported using a mobile device. Most participants (84%) reported pain in at least one body part. Right hand pain was most common at the base of the thumb. Significant associations found included time spent internet browsing and pain in the base of the right thumb (odds ratio 2.21, 95% confidence interval 1.02-4.78), and total time spent using a mobile device and pain in the right shoulder (2.55, 1.25-5.21) and neck (2.72, 1.24-5.96). Although this research is preliminary, the observed associations, together with the rising use of these devices, raise concern for heavy users.

The heroism of women and men. <=SEP=> Heroism consists of actions undertaken to help others, despite the possibility that they may result in the helper's death or injury. The authors examine heroism by women and men in 2 extremely dangerous settings: the emergency situations in which Carnegie medalists rescued others and the holocaust in which some non-Jews risked their lives to rescue Jews. The authors also consider 3 risky but less dangerous prosocial actions: living kidney donations, volunteering for the Peace Corps, and volunteering for Doctors of the World. Although the Carnegie medalists were disproportionately men, the other actions yielded representations of women that were at least equal to and in most cases higher than those of men. These findings have important implications for the psychology of heroism and of gender.

Ischiofemoral Impingement Syndrome <=SEP=> Ischiofemoral impingement syndrome is known as one of the causes of hip pain due to impingement of ischium and femur, and usually correlated with trauma or operation. We report a rare case of ischiofemoral impingement syndrome that has no history of trauma or surgery. A 48-year-old female patient was referred for 2 months history of the left hip pain, radiating to lower extremity with a hip snapping sensation. She had no history of trauma or surgery at or around the hip joint and femur. The magnetic resonance imaging (MRI) of the lumbar spine showed no abnormality, except diffuse bulging disc without cord compression at the lumbosacral area. Electrophysiologic study was normal, and there were no neurologic abnormalities compatible with the lumbosacral radiculopathy or spinal stenosis. Hip MRI revealed quadratus femoris muscle edema with concurrent narrowing of the ischiofemoral space. The distance of ischiofemoral space and quadratus femoris space were narrow. It was compatible with ischiofemoral impingement syndrome. After treatment with nonsteroidal anti-inflammatory drugs, physical therapy, and exercise program, the patient's pain was relieved and the snapping was improved. To our knowledge, this is the first reported case of a nontraumatic, noniatrogenic ischiofemoral impingement syndrome, and also the first case to be treated by a nonsurgical method in the Republic of Korea.

Statistical and Machine Learning approach in forex prediction based on empirical data <=SEP=> This study proposed a new insight in comparing common methods used in predicting based on data series i.e statistical method and machine learning. The corresponding techniques are use in predicting Forex (Foreign Exchange) rates. The Statistical method used in this paper is Adaptive Spline Threshold Autoregression (ASTAR), while for machine learning, Support Vector Machine (SVM) and hybrid form of Genetic Algorithm-Neural Network (GA-NN) are chosen. The comparison among the three methods accurate rate is measured in root mean squared error (RMSE). It is found that ASTAR and GA-NN method has advantages depend on the period time intervals.

Novel 2-D MMSE Subpixel-Based Image Down-Sampling <=SEP=> Subpixel-based down-sampling is a method that can potentially improve apparent resolution of a down-scaled image on LCD by controlling individual subpixels rather than pixels. However, the increased luminance resolution comes at price of chrominance distortion. A major challenge is to suppress color fringing artifacts while maintaining sharpness. We propose a new subpixel-based down-sampling pattern called diagonal direct subpixel-based down-sampling (DDSD) for which we design a 2-D image reconstruction model. Then, we formulate subpixel-based down-sampling as a MMSE problem and derive the optimal solution called minimum mean square error for subpixel-based down-sampling (MMSE-SD). Unfortunately, straightforward implementation of MMSE-SD is computational intensive. We thus prove that the solution is equivalent to a 2-D linear filter followed by DDSD, which is much simpler. We further reduce computational complexity using a small k × k filter to approximate the much larger MMSE-SD filter. To compare the performances of pixel and subpixel-based down-sampling methods, we propose two novel objective measures: normalized l1 high frequency energy for apparent luminance sharpness and PSNRU(V) for chrominance distortion. Simulation results show that both MMSE-SD and MMSE-SD(k) can give sharper images compared with conventional down-sampling methods, with little color fringing artifacts.

A Technique for Measuring Data Persistence Using the Ext4 File System Journal <=SEP=> In this paper, we propose a method of measuring data persistence using the Ext4 journal. Digital Forensic tools and techniques are commonly used to extract data from media. A great deal of research has been dedicated to the recovery of deleted data, however, there is a lack of information on quantifying the chance that an investigator will be successful in this endeavor. To that end, we suggest the file system journal be used as a source to gather empirical evidence of data persistence, which can later be used to formulate the probability of recovering deleted data under various conditions. Knowing this probability can help investigators decide where to best invest their resources. We have implemented a proof of concept system that interrogates the Ext4 file system journal and logs relevant data. We then detail how this information can be used to track the reuse of data blocks from the examination of file system metadata structures. This preliminary design contributes a novel method of tracking deleted data persistence that can be used to generate the information necessary to formulate probability models regarding the full and/or partial recovery of deleted data.

Joint Haar-like features for face detection <=SEP=> In this paper, we propose a new distinctive feature, called joint Haar-like feature, for detecting faces in images. This is based on co-occurrence of multiple Haar-like features. Feature co-occurrence, which captures the structural similarities within the face class, makes it possible to construct an effective classifier. The joint Haar-like feature can be calculated very fast and has robustness against addition of noise and change in illumination. A face detector is learned by stagewise selection of the joint Haar-like features using AdaBoost. A small number of distinctive features achieve both computational efficiency and accuracy. Experimental results with 5, 676 face images and 30,000 nonface images show that our detector yields higher classification performance than Viola and Jones' detector; which uses a single feature for each weak classifier. Given the same number of features, our method reduces the error by 37%. Our detector is 2.6 times as fast as Viola and Jones' detector to achieve the same performance

A sub-pW timer using gate leakage for ultra low-power sub-Hz monitoring systems <=SEP=> In this work, we present a novel ultra-low power timer designed using the gate leakage of MOS capacitors. The test chip was fabricated in a 0.13 mum CMOS technology and the total circuit area is 480 mum2. Measurement results show that the circuit functions correctly at a wide range of supply voltages from 300 mV to 1.2 V, making it particularly suitable for subthreshold systems. The temperature sensitivity is 0.16%/degC at 600 mV and 0.6%/degC at 300 mV. The power dissipation is less than 1pW running at 20degC and 300 mV.

A concise introduction to autonomic computing <=SEP=> School of Computing and Mathematics, Faculty of Engineering, University of Ulster at Jordanstown, Shore Road, Newtownabbey, County Antrim BT37 0QB, Northern Ireland, UK The Applied Software Systems Laboratory (TASSL), Electrical and Computer Engineering, Rutgers, The State University of New Jersey, 94 Brett Road, Piscataway, NJ 08854-8058, USA School of Computing and Mathematical Sciences, The SRIF/SHEFC Centre for Virtual Organization Technology Enabling Research (VOTER), Glasgow Caledonian University, 70 Cowcaddens Road, Glasgow G4 0BA, UK Institute for Computer Science and Business Information Systems (ICB), University of Duisburg-Essen, Schützenbahn 70, 45117 Essen, Germany

A 1.7 ps Equivalent Bin Size and 4.2 ps RMS FPGA TDC Based on Multichain Measurements Averaging Method <=SEP=> A high precision and high resolution time-to-digital converter (TDC) based on multichain measurements averaging method is implemented in a 40 nm fabrication process Virtex-6 FPGA. The results of the detailed theoretical analysis and the simulation with the MATLAB tool based on a complete TDC module show that the resolution limitation determined by the intrinsic cell delay of plain tapped-delay chain can be overcame, which results in an improvement on both resolution and precision without increasing the dead time. The test results agree with the simulation results quite well. In such a TDC, the input signal is connected to multiple tapped-delay chains simultaneously (the number of the chains is M), and each chain is just a plain TDC and generates a timestamp for a hit signal. Therefore, M timestamps should be obtained in total, which, after averaging, give the final timestamp. A TDC with 1.7 ps equivalent bin size, 1.5 ps averaged bin size and 4.2 ps RMS has been implemented with M being 16, which performs much better than the plain TDC constructed of a single tapped delay chain having 42.3 ps equivalent bin size, 24.0 ps averaged bin size resolution and 13.2 ps RMS precision. The comparisons of equivalent bin size and averaged bin size show that the nonlinearity is improved with a larger M. Due to the real time integral nonlinearity (INL) calibration and averaging calculation, the multichain TDC is almost insensitive to the process voltage and temperature (PVT) variations.

Recognition of handwritten Roman Numerals using Tesseract open source OCR engine <=SEP=> The objective of the paper is to recognize handwritten samples of Roman numerals using Tesseract open source Optical Character Recognition (OCR) engine. Tesseract is trained with data samples of different persons to generate one user-independent language model, representing the handwritten Roman digit-set. The system is trained with 1226 digit samples collected form the different users. The performance is tested on two different datasets, one consisting of samples collected from the known users (those who prepared the training data samples) and the other consisting of handwritten data samples of unknown users. The overall recognition accuracy is obtained as 92.1% and 86.59% on these test datasets respectively.

Design, Modeling, Control, and Evaluation of a Hybrid Hip Joint Miniature Climbing Robot <=SEP=> The subject of this paper is the design, control, and evaluation of a biped–climbing robot featuring a new hybrid hip joint. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around obstacles. Optimization of the hybrid hip joint relative to robot size, weight, and actuation limits is considered while maximizing range of motion. The mechanical structure of the robot is discussed, as well as forward and inverse kinematics for motion planning. Reachable robot workspace in both revolute and prismatic phases of the hybrid hip joint is analyzed. Different robot locomotion strides are developed and dynamic controller requirements are considered. Experimental evaluation of the robot walking and climbing on and between surfaces with different inclinations is conducted to evaluate performance and repeatability of the system. KEY WORDS—biped robot, climbing robot, robot design, kinematics, locomotion strides

A Machine Learning Approach to Predict Gene Regulatory Networks in Seed Development in Arabidopsis <=SEP=> Gene regulatory networks (GRNs) provide a representation of relationships between regulators and their target genes. Several methods for GRN inference, both unsupervised and supervised, have been developed to date. Because regulatory relationships consistently reprogram in diverse tissues or under different conditions, GRNs inferred without specific biological contexts are of limited applicability. In this report, a machine learning approach is presented to predict GRNs specific to developing Arabidopsis thaliana embryos. We developed the Beacon GRN inference tool to predict GRNs occurring during seed development in Arabidopsis based on a support vector machine (SVM) model. We developed both global and local inference models and compared their performance, demonstrating that local models are generally superior for our application. Using both the expression levels of the genes expressed in developing embryos and prior known regulatory relationships, GRNs were predicted for specific embryonic developmental stages. The targets that are strongly positively correlated with their regulators are mostly expressed at the beginning of seed development. Potential direct targets were identified based on a match between the promoter regions of these inferred targets and the cis elements recognized by specific regulators. Our analysis also provides evidence for previously unknown inhibitory effects of three positive regulators of gene expression. The Beacon GRN inference tool provides a valuable model system for context-specific GRN inference and is freely available at https://github.com/BeaconProjectAtVirginiaTech/beacon_network_inference.git.

Children's engagement with educational iPad apps: Insights from a Spanish classroom <=SEP=> This study investigates the effects of a story-making app called Our Story and a selection of other educational apps on the learning engagement of forty-one Spanish 4–5-year-olds. Children were observed interacting in small groups with the story-making app and this was compared to their engagement with a selection of construction and drawing apps. Children’s engagement was analysed in two ways: it was categorised using Bangert-Drowns and Pyke’s taxonomy for individual hands-on engagement with educational software, and using the concept of exploratory talk as developed by Mercer et al. to analyse peer engagement. For both approaches, quantitative and qualitative indices of children’s engagement were considered. The overall findings suggested that in terms of the BangertDrowns and Pyke taxonomy, the quality of children’s individual engagement was higher with the OS app in contrast to their engagement with other app software. The frequency of children’s use of exploratory talk was similar with the OS and colouring and drawing apps, and a detailed qualitative analysis of the interaction transcripts revealed several instances of the OS and drawing apps supporting joint problem-solving and collaborative engagement. We suggest that critical indices of an app’s educational value are the extent to which the app supports opportunities for open-ended content and children’s independent use of increasingly difficult features. 2013 Elsevier Ltd. All rights reserved.

Rotor Failures in Squirrel Cage Induction Motors <=SEP=> During the past two decades, tremendous improvement has been made in the design and manufacture of stator windings. This has been accomplished primarily through the development of improved insulation materials and treatment processes. As a result, the expected life from a thermal, dielectrical, mechanical, and environmental standpoint has been significantly increased. The rotor design and manufacturing remains basically unchanged. A survey of warranty data and service facilities suggests that rotor failures now account for a larger percentage of the total induction motor failures. The majority of these failures are caused by various stresses which act on the rotor assembly. These various stresses and how they affect the life of the motor and contribute to premature failure are discussed.

Annual Report Readability , Earnings , and Stock Returns ∗ <=SEP=> This paper examines the relationship between annual report readability and firm performance. This is motivated by the Securities and Exchange Commission’s plain English disclosure regulations that attempt to make corporate disclosures easier to read for ordinary investors. I measure the readability of public company annual reports using the Fog Index and the Kincaid Index from computational linguistics. I find that the annual reports of firms with lower earnings are harder to read. Moreover, the positive earnings of firms with annual reports that are easier to read are more persistent in the next one to four years. This suggests that, consistent with the motivation behind the plain English disclosure regulation of the Securities and Exchange Commission, managers may be opportunistically choosing the readability of annual reports to hide adverse information from investors. However, I do not find any correlation between annual report readability and future stock returns, suggesting that the market does impound the implications of disclosure readability into stock prices.

Applying Business Intelligence Concepts to Medicaid Claim Fraud Detection <=SEP=> U.S. governmental agencies are striving to do more with less. Controlling the costs of delivering healthcare services such as Medicaid is especially critical at a time of increasing program enrollment and decreasing state budgets. Fraud is estimated to steal up to ten percent of the taxpayer dollars used to fund governmentally supported healthcare, making it critical for government authorities to find cost effective methods to detect fraudulent transactions. This paper explores the use of a business intelligence system relying on statistical methods to detect fraud in one state’s existing Medicaid claim payment data. This study shows that Medicaid claim transactions that have been collected for payment purposes can be reformatted and analyzed to detect fraud and provide input for decision makers charged with making the best use of available funding. The results illustrate the efficacy of using unsupervised statistical methods to detect fraud in healthcare-related data.

High-Resistivity SOI CMOS Cellular Antenna Switches <=SEP=> Results for cellular antenna switches using highresistivity silicon-on-insulator (SOI) CMOS technology are presented. The performance of SOI RF switch FETs is presented and compared to a production GaAs pHEMT technology. Data from prototype high-resistivity SOI RF switch designs is presented and compared to pHEMT based designs. Index Terms — RF CMOS, SOI, silicon-on-insulator, RF SOI, cellular switch, signal isolation

Controlling tensegrity robots through evolution <=SEP=> Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400% better than a hand-coded solution, while the multiagent evolution performs 800% better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

A sensor fusion approach for recognizing continuous human grasping sequences using hidden Markov models <=SEP=> The Programming by Demonstration (PbD) technique aims at teaching a robot to accomplish a task by learning from a human demonstration. In a manipulation context, recognizing the demonstrator's hand gestures, specifically when and how objects are grasped, plays a significant role. Here, a system is presented that uses both hand shape and contact-point information obtained from a data glove and tactile sensors to recognize continuous human-grasp sequences. The sensor fusion, grasp classification, and task segmentation are made by a hidden Markov model recognizer. Twelve different grasp types from a general, task-independent taxonomy are recognized. An accuracy of up to 95% could be achieved for a multiple-user system.