Query: A High Performance CRF Model for Clothes Parsing

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Selective Search for Object Recognition <=SEP=> This paper addresses the problem of generating possible object locations for use in object recognition. We introduce selective search which combines the strength of both an exhaustive search and segmentation. Like segmentation, we use the image structure to guide our sampling process. Like exhaustive search, we aim to capture all possible object locations. Instead of a single technique to generate possible object locations, we diversify our search and use a variety of complementary image partitionings to deal with as many image conditions as possible. Our selective search results in a small set of data-driven, class-independent, high quality locations, yielding 99 % recall and a Mean Average Best Overlap of 0.879 at 10,097 locations. The reduced number of locations compared to an exhaustive search enables the use of stronger machine learning techniques and stronger appearance models for object recognition. In this paper we show that our selective search enables the use of the powerful Bag-of-Words model for recognition. The selective search software is made publicly available (Software: http://disi.unitn.it/~uijlings/SelectiveSearch.html ).

Video Google: A Text Retrieval Approach to Object Matching in Videos <=SEP=> We describe an approach to object and scene retrieval which searches for and localizes all the occurrences of a user outlined object in a video. The object is represented by a set of viewpoint invariant region descriptors so that recognition can proceed successfully despite changes in viewpoint, illumination and partial occlusion. The temporal continuity of the video within a shot is used to track the regions in order to reject unstable regions and reduce the effects of noise in the descriptors. The analogy with text retrieval is in the implementation where matches on descriptors are pre-computed (using vector quantization), and inverted file systems and document rankings are used. The result is that retrieval is immediate, returning a ranked list of key frames/shots in the manner of Google. The method is illustrated for matching on two full length feature films.

SuperParsing: Scalable Nonparametric Image Parsing with Superpixels <=SEP=> This paper presents a simple and effective nonparametric approach to the problem of image parsing, or labeling image regions (in our case, superpixels produced by bottom-up segmentation) with their categories. This approach requires no training, and it can easily scale to datasets with tens of thousands of images and hundreds of labels. It works by scene-level matching with global image descriptors, followed by superpixel-level matching with local features and efficient Markov random field (MRF) optimization for incorporating neighborhood context. Our MRF setup can also compute a simultaneous labeling of image regions into semantic classes (e.g., tree, building, car) and geometric classes (sky, vertical, ground). Our system outperforms the state-of-the-art nonparametric method based on SIFT Flow on a dataset of 2,688 images and 33 labels. In addition, we report per-pixel rates on a larger dataset of 15,150 images and 170 labels. To our knowledge, this is the first complete evaluation of image parsing on a dataset of this size, and it establishes a new benchmark for the problem.

The Pascal Visual Object Classes (VOC) Challenge <=SEP=> The Pascal Visual Object Classes (VOC) challenge is a benchmark in visual object category recognition and detection, providing the vision and machine learning communities with a standard dataset of images and annotation, and standard evaluation procedures. Organised annually from 2005 to present, the challenge and its associated dataset has become accepted as the benchmark for object detection. This paper describes the dataset and evaluation procedure. We review the state-of-the-art in evaluated methods for both classification and detection, analyse whether the methods are statistically different, what they are learning from the images (e.g. the object or its context), and what the methods find easy or confuse. The paper concludes with lessons learnt in the three year history of the challenge, and proposes directions for future improvement and extension.

Efficient Graph-Based Image Segmentation <=SEP=> This paper addresses the problem of segmenting an image into regions. We define a predicate for measuring the evidence for a boundary between two regions using a graph-based representation of the image. We then develop an efficient segmentation algorithm based on this predicate, and show that although this algorithm makes greedy decisions it produces segmentations that satisfy global properties. We apply the algorithm to image segmentation using two different kinds of local neighborhoods in constructing the graph, and illustrate the results with both real and synthetic images. The algorithm runs in time nearly linear in the number of graph edges and is also fast in practice. An important characteristic of the method is its ability to preserve detail in low-variability image regions while ignoring detail in high-variability regions.

Model based control of fiber reinforced elastofluidic enclosures <=SEP=> Fiber-Reinforced Elastofluidic Enclosures (FREEs), are a subset of pneumatic soft robots with an asymmetric continuously deformable skin that are able to generate a wide range of deformations and forces, including rotation and screw motions. Though these soft robots are able to generate a variety of motions, simultaneously controlling their end effector rotation and position has remained challenging due to the lack of a simple model. This paper presents a model that establishes a relationship between the pressure, torque due to axial loading, and axial rotation to enable a model-driven open-loop control for FREEs. The modeling technique relies on describing force equilibrium between the fiber, fluid, and an elastomer model which is computed via system identification. The model is experimentally tested as these variables are changed, illustrating that it provides good agreement with the real system. To further illustrate the potential of the model, a precision open-loop control experiment of opening a rotational combination lock is presented2.

Theory and implementation of dielectric resonator antenna excited by a waveguide slot <=SEP=> Excitation of dielectric resonator antennas (DRAs) by waveguide slots is proposed as an alternative to traditionally used excitation mechanisms in order to enhance the frequency bandwidth of slotted waveguide radiators and to control the power coupled to the DRA. The analysis is based on the numerical solution of coupled integral equations discretized using the method of moments (MoM). The dielectric resonator (DR) is modeled as a body-of-revolution based on the integral equation formulation for the equivalent electric and magnetic surface current densities. The analysis of an infinite or a semi-infinite waveguide containing longitudinal or transverse narrow slots uses the appropriate dyadic Green's function resulting in closed-form analytical expressions of the MoM matrix. The scattering parameters for a slotted waveguide loaded with a dielectric resonator antenna disk are calculated and compared with finite-difference time-domain results. Bandwidth enhancement is achieved by the proper selection for the antenna parameters.

Eight Key Elements of a Business Model <=SEP=> The growth of e-commerce and mobile services has been creating business opportunities. Among these, mobile marketing is predicted to be a new trend of marketing. As mobile devices are personal tools such that the services ought to be unique, in the last few years, researches have been conducted studies related to the user acceptance of mobile services and produced results. This research aims to develop a model of mobile e-commerce mobile marketing system, in the form of computer-based information system (CBIS) that addresses the recommendations or criteria formulated by researchers. In this paper, the criteria formulated by researches are presented then each of the criteria is resolved and translated into mobile services. A model of CBIS, which is an integration of a website and a mobile application, is designed to materialize the mobile services. The model is presented in the form of business model, system procedures, network topology, software model of the website and mobile application, and database models.

The LOCATA Challenge Data Corpus for Acoustic Source Localization and Tracking <=SEP=> Algorithms for acoustic source localization and tracking are essential for a wide range of applications such as personal assistants, smart homes, tele-conferencing systems, hearing aids, or autonomous systems. Numerous algorithms have been proposed for this purpose which, however, are not evaluated and compared against each other by using a common database so far. The IEEE-AASP Challenge on sound source localization and tracking (LOCATA) provides a novel, comprehensive data corpus for the objective benchmarking of state-of-the-art algorithms on sound source localization and tracking. The data corpus comprises six tasks ranging from the localization of a single static sound source with a static microphone array to the tracking of multiple moving speakers with a moving microphone array. It contains real-world multichannel audio recordings, obtained by hearing aids, microphones integrated in a robot head, a planar and a spherical microphone array in an enclosed acoustic environment, as well as positional information about the involved arrays and sound sources represented by moving human talkers or static loudspeakers.

Thermal Analysis of the Permanent-Magnet Spherical Motor <=SEP=> There are many kinds of permanent-magnet (PM) motors, which are widely used in modern industry, but the problem of temperature rise is likely to affect the operation performance and even the life of the motor. The semiclosed structure of the PM spherical motor (PMSM) tends to increase the temperature when it works, so the thermal analysis of the PMSM is considered necessary. Based on double Fourier series decomposition, this paper establishes a three-dimensional (3-D) analytical model of PM eddy current loss in the PMSM, which considers the effect of time and space harmonics. Meanwhile, the heat sources such as hysteresis loss and copper loss are discussed. With those heat sources, a 3-D equivalent thermal network model is established. The thermal resistances are calculated. By applying the thermal network model, the influence of different speed and load on temperature rise is analyzed, and a steady-state thermal analysis of the motor is performed by using finite element analysis. The structure of stator is improved and good heat dissipation effect is achieved. This paper provides the theoretical basis for the design of ventilation and cooling system of the PMSM.

Different Feature Selection for Sentiment Classification <=SEP=> Sentiment Analysis (SA) research has increased tremendously in recent times .Sentiment analysis means to extract opinion of users from review documents. Sentiment classification using Machine learning (ML ) methods faces the problem of high dimensionality of feature vector. Therefore, a feature selection method is required to eliminate the irrelevant and noisy features from the feature vector for efficient working of ML algorithms Rough set theory provides an important concept for feature reduction called reduct. The cost of reduct set computation is highly influenced by the attribute size of the dataset where the problem of finding reducts has been proven as NPhard problems.Different feature selection are applied on different data set, Experimental results show that mRMR is better compared to IG for sentiment classification, Hybrid feature selection method based on the RST and Information Gain (IG) is better compared to the previous methods. Proposed methods are evaluated on four standard datasets viz. Movie review, Product (book, DVD, and electronics) reviewed datasets, and Experimental results show that hybrid feature selection method outperforms than feature selection methods for sentimental classification.

Introduction to the Special Issue: The Literature Review in Information Systems <=SEP=> There has been a flowering of scholarly interest in the literature review as a research method in the information systems discipline. We feel privileged to contribute to this conversation and introduce the work of the authors represented in this special issue. Some of the highlights include three new methods for conducting literature analysis and guidelines, tutorials, and approaches for coping with some of the challenges involved in carrying out a literature review. Of the three “new method” papers, one (ontological meta-analysis and synthesis) is entirely new, and two (stylized facts and critical discourse analysis) are novel in the information systems context. The other four paper address more general issues: the challenges of effective search strategies when confronted with the burgeoning volume of research available, a detailed tool-supported approach for conducting a rigorous review, a detailed tutorial for conducting a qualitative literature review, and a discussion of quality issues. Collectively, the papers place emphasis beyond the traditional “narrative synthesis” on the importance of selecting the appropriate approach for the research context and the importance of attention to quality and transparency at all stages of the process, regardless of which approach is adopted.

Internet Addiction and Relationships with Insomnia, Anxiety, Depression, Stress and Self-Esteem in University Students: A Cross-Sectional Designed Study <=SEP=> BACKGROUND AND AIMS
Internet addiction (IA) could be a major concern in university medical students aiming to develop into health professionals. The implications of this addiction as well as its association with sleep, mood disorders and self-esteem can hinder their studies, impact their long-term career goals and have wide and detrimental consequences for society as a whole. The objectives of this study were to: 1) Assess potential IA in university medical students, as well as factors associated with it; 2) Assess the relationships between potential IA, insomnia, depression, anxiety, stress and self-esteem.


METHODS
Our study was a cross-sectional questionnaire-based survey conducted among 600 students of three faculties: medicine, dentistry and pharmacy at Saint-Joseph University. Four validated and reliable questionnaires were used: the Young Internet Addiction Test, the Insomnia Severity Index, the Depression Anxiety Stress Scales (DASS 21), and the Rosenberg Self Esteem Scale (RSES).


RESULTS
The average YIAT score was 30 ± 18.474; Potential IA prevalence rate was 16.8% (95% confidence interval: 13.81-19.79%) and it was significantly different between males and females (p-value = 0.003), with a higher prevalence in males (23.6% versus 13.9%). Significant correlations were found between potential IA and insomnia, stress, anxiety, depression and self-esteem (p-value < 0.001); ISI and DASS sub-scores were higher and self-esteem lower in students with potential IA.


CONCLUSIONS
Identifying students with potential IA is important because this addiction often coexists with other psychological problems. Therefore, interventions should include not only IA management but also associated psychosocial stressors such as insomnia, anxiety, depression, stress, and self-esteem.

Sensorless current estimation and sharing in multiphase input-parallel output-parallel DC-DC converters <=SEP=> This paper introduces a sensorless current-sharing strategy for multiphase input-parallel output-parallel (IPOP) DC-DC converters. A dual active bridge (DAB) DC-DC converter is chosen as the basic DC-DC converter. With this strategy, by perturbing the duty cycles in (n-1) out of n phases in turn and measuring the changes of duty cycles respectively, the parameters mismatches among phases are estimated. According to the mismatches, a set of variables, which are proportional to the per-phase output currents, are calculated. Then with a current-sharing regulator, parameter mismatches are compensated, thus achieving current sharing without current sensing. The strategy is verified through both simulation and experimental implementation with a 30V-to-70V, 272W, 20kHz, three-phase IPOP DC-DC converter.

Neural mechanisms of selective visual attention. <=SEP=> The two basic phenomena that define the problem of visual attention can be illustrated in a simple example. Consider the arrays shown in each panel of Figure 1. In a typical experiment, before the arrays were presented, subjects would be asked to report letters appearing in one color (targets, here black letters), and to disregard letters in the other color (nontargets, here white letters). The array would then be briefly flashed, and the subjects, without any opportunity for eye movements, would give their report. The display mimics our. usual cluttered visual environment: It contains one or more objects that are relevant to current behavior, along with others that are irrelevant. The first basic phenomenon is limited capacity for processing information. At any given time, only a small amount of the information available on the retina can be processed and used in the control of behavior. Subjectively, giving attention to any one target leaves less available for others. In Figure 1, the probability of reporting the target letter N is much lower with two accompa­ nying targets (Figure la) than with none (Figure Ib). The second basic phenomenon is selectivity-the ability to filter out un­ wanted information. Subjectively, one is aware of attended stimuli and largely unaware of unattended ones. Correspondingly, accuracy in identifying an attended stimulus may be independent of the number of nontargets in a display (Figure la vs Ie) (see Bundesen 1990, Duncan 1980).

Discrete Delaunay: Boundary extraction from voxel objects <=SEP=> We present a discrete approach for boundary extraction from 3D image data. The proposed technique is based on the duality between the Voronoi graph computed accross the digital boundary and the Delaunay triangulation. The originality of the approach is that algorithms perform only integer arithmetic and the method does not suffer from standard round problems and numerical instabilities in the case of floating point computations. This method has been applied both on segmented anatomical structures and on manufactured objects presenting corners and edges. The experimental results show that the method allows to produce a polygonal boundary representation which is guaranteed to be a 2-manifold. This representation is successfully transformed into a triangular quality mesh which meets all topological and geometrical requirements of applications such as augmented reality or simulation.

Fundamental Limits of Wideband Localization— Part I: A General Framework <=SEP=> The availability of position information is of great importance in many commercial, public safety, and military applications. The coming years will see the emergence of location-aware networks with submeter accuracy, relying on accurate range measurements provided by wide bandwidth transmissions. In this two-part paper, we determine the fundamental limits of localization accuracy of wideband wireless networks in harsh multipath environments. We first develop a general framework to characterize the localization accuracy of a given node here and then extend our analysis to cooperative location-aware networks in Part II. In this paper, we characterize localization accuracy in terms of a performance measure called the squared position error bound (SPEB), and introduce the notion of equivalent Fisher information (EFI) to derive the SPEB in a succinct expression. This methodology provides insights into the essence of the localization problem by unifying localization information from individual anchors and that from a priori knowledge of the agent's position in a canonical form. Our analysis begins with the received waveforms themselves rather than utilizing only the signal metrics extracted from these waveforms, such as time-of-arrival and received signal strength. Hence, our framework exploits all the information inherent in the received waveforms, and the resulting SPEB serves as a fundamental limit of localization accuracy.

Coupled Bayesian Sets Algorithm for Semi-supervised Learning and Information Extraction <=SEP=> Our inspiration comes from Nell (Never Ending Language Learning), a computer program running at Carnegie Mellon University to extract structured information from unstructured web pages. We consider the problem of semi-supervised learning approach to extract category instances (e.g. country(USA), city(New York)) from web pages, starting with a handful of labeled training examples of each category or relation, plus hundreds of millions of unlabeled web documents. Semisupervised approaches using a small number of labeled examples together with many unlabeled examples are often unreliable as they frequently produce an internally consistent, but nevertheless, incorrect set of extractions. We believe that this problem can be overcome by simultaneously learning independent classifiers in a new approach named Coupled Bayesian Sets algorithm, based on Bayesian Sets, for many different categories and relations (in the presence of an ontology defining constraints that couple the training of these classifiers). Experimental results show that simultaneously learning a coupled collection of classifiers for random 11 categories resulted in much more accurate extractions than training classifiers through original Bayesian Sets algorithm, Naive Bayes, BaS-all and Coupled Pattern Learner (the category extractor used in NELL).

Polarity Lexicon Building: to what Extent Is the Manual Effort Worth? <=SEP=> Polarity lexicons are a basic resource for analyzing the sentiments and opinions expressed in texts in an automated way. This paper explores three methods to construct polarity lexicons: translating existing lexicons from other languages, extracting polarity lexicons from corpora, and annotating sentiments Lexical Knowledge Bases. Each of these methods require a different degree of human effort. We evaluate how much manual effort is needed and to what extent that effort pays in terms of performance improvement. Experiment setup includes generating lexicons for Basque, and evaluating them against gold standard datasets in different domains. Results show that extracting polarity lexicons from corpora is the best solution for achieving a good performance with reasonable human effort.

Exploring specialized near-memory processing for data intensive operations <=SEP=> Emerging 3D stacked memory systems provide significantly more bandwidth than current DDR modules. However, general purpose processors do not take full advantage of these resources offered by the memory modules. Taking advantage of the increased bandwidth requires the use of specialized processing units. In this paper, we evaluate the benefits of placing hardware accelerators at the bottom layer of a 3D stacked memory system compared to accelerators that are placed external to the memory stack. Our evaluation of the design using cycle-accurate simulation and RTL synthesis shows that, for important data intensive kernels, near-memory accelerators inside a single 3D memory package provide 3x-13x speedup over a Quad-core Xeon processor. Most of the benefits are from the application of accelerators, as the near-memory configurations provide marginal benefits compared to the same number of accelerators placed on a die external to the memory package. This comparable performance for external accelerators is due to the high bandwidth afforded by the high-speed off-chip links. On the other hand, near-memory accelerators consume 7%-39% less energy than the external accelerators.

Towards an Architecture for Knowledge Representation and Reasoning in Robotics <=SEP=> This paper describes an architecture that combines the complementary strengths of probabilistic graphical models and declarative programming to enable robots to represent and reason with qualitative and quantitative descriptions of uncertainty and domain knowledge. An action language is used for the architecture’s low-level (LL) and high-level (HL) system descriptions, and the HL definition of recorded history is expanded to allow prioritized defaults. For any given objective, tentative plans created in the HL using commonsense reasoning are implemented in the LL using probabilistic algorithms, and the corresponding observations are added to the HL history. Tight coupling between the levels helps automate the selection of relevant variables and the generation of policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in complex domains. The architecture is evaluated in simulation and on robots moving objects in indoor domains.

A framework to build bespoke auto-tuners with structured Bayesian optimisation <=SEP=> Due to their complexity, modern computer systems expose many configuration parameters which users must manually tune to maximise the performance of their applications. To relieve users of this burden, auto-tuning has emerged as an alternative in which a black-box optimiser iteratively evaluates configurations to find efficient ones. A popular auto-tuning technique is Bayesian optimisation, which uses the results to incrementally build a probabilistic model of the impact of the parameters on performance. This allows the optimisation to quickly focus on efficient regions of the configuration space. Unfortunately, for many computer systems, either the configuration space is too large to develop a good model, or the time to evaluate performance is too long to be executed many times. In this dissertation, I argue that by extracting a small amount of domain specific knowledge about a system, it is possible to build a bespoke auto-tuner with significantly better performance than its off-the-shelf counterparts. This could be performed, for example, by a system engineer who has a good understanding of the underlying system behaviour and wants to provide performance portability. This dissertation presents BOAT, a framework to build BespOke Auto-Tuners. BOAT offers a novel set of abstractions designed to make the exposition of domain knowledge easy and intuitive. First, I introduce Structured Bayesian Optimisation (SBO), an extension of the Bayesian optimisation algorithm. SBO can leverage a bespoke probabilistic model of the system's behaviour, provided by the system engineer, to rapidly converge to high performance configurations. The model can benefit from observing many runtime measurements per evaluation of the system, akin to the use of profilers. Second, I present Probabilistic-C++ a lightweight, high performance probabilistic programming library. It allows users to declare a probabilistic models of their system's behaviour and expose it to an SBO. Probabilistic programming is a recent tool from the Machine Learning community making the declaration of structured probabilistic models intuitive. Third, I present a new optimisation scheduling abstraction which offers a structured way to express optimisations which themselves execute other optimisations. For example, this is useful to express Bayesian optimisations, which each iteration execute a numerical optimisation. Furthermore, it allows users to easily implement decompositions which exploit the loose coupling of subsets of the configuration parameters to optimise them almost independently.

A Novel Technique for English Font Recognition Using Support Vector Machines <=SEP=> Font Recognition is one of the Challenging tasks in Optical Character Recognition. Most of the existing methods for font recognition make use of local typographical features and connected component analysis. In this paper, English font recognition is done based on global texture analysis. The main objective of this proposal is to employ support vector machines (SVM) in identifying various fonts. The feature vectors are extracted by making use of Gabor filters and the proposed SVM is trained using these features. The method is found to give superior performance over neural networks by avoiding local minima points. The SVM model is formulated tested and the results are presented in this paper. It is observed that this method is content independent and the SVM classifier shows an average accuracy of 93.54%.

Mobile ad hoc networking: imperatives and challenges <=SEP=> Mobile ad hoc networks (MANETs) represent complex distributed systems that comprise wireless mobile nodes that can freely and dynamically self-organize into arbitrary and temporary, ‘‘ad-hoc’’ network topologies, allowing people and devices to seamlessly internetwork in areas with no pre-existing communication infrastructure, e.g., disaster recovery environments. Ad hoc networking concept is not a new one, having been around in various forms for over 20 years. Traditionally, tactical networks have been the only communication networking application that followed the ad hoc paradigm. Recently, the introduction of new technologies such as the Bluetooth, IEEE 802.11 and Hyperlan are helping enable eventual commercial MANET deployments outside the military domain. These recent evolutions have been generating a renewed and growing interest in the research and development of MANET. This paper attempts to provide a comprehensive overview of this dynamic field. It first explains the important role that mobile ad hoc networks play in the evolution of future wireless technologies. Then, it reviews the latest research activities in these areas, including a summary of MANET s characteristics, capabilities, applications, and design constraints. The paper concludes by presenting a set of challenges and problems requiring further research in the future. 2003 Elsevier B.V. All rights reserved.

Single-Phase Seven-Level Grid-Connected Inverter for Photovoltaic System <=SEP=> This paper proposes a single-phase seven-level inverter for grid-connected photovoltaic systems, with a novel pulsewidth-modulated (PWM) control scheme. Three reference signals that are identical to each other with an offset that is equivalent to the amplitude of the triangular carrier signal were used to generate the PWM signals. The inverter is capable of producing seven levels of output-voltage levels (Vdc, 2Vdc/3, Vdc/3, 0, -Vdc, -2Vdc/3, -Vdc/3) from the dc supply voltage. A digital proportional-integral current-control algorithm was implemented in a TMS320F2812 DSP to keep the current injected into the grid sinusoidal. The proposed system was verified through simulation and implemented in a prototype.

A new model for learning in graph domains <=SEP=> In several applications the information is naturally represented by graphs. Traditional approaches cope with graphical data structures using a preprocessing phase which transforms the graphs into a set of flat vectors. However, in this way, important topological information may be lost and the achieved results may heavily depend on the preprocessing stage. This paper presents a new neural model, called graph neural network (GNN), capable of directly processing graphs. GNNs extends recursive neural networks and can be applied on most of the practically useful kinds of graphs, including directed, undirected, labelled and cyclic graphs. A learning algorithm for GNNs is proposed and some experiments are discussed which assess the properties of the model.

Wavelet Feature Based Confusion Character Sets for Gujarati Script <=SEP=> Indic script recognition is a difficult task due to the large number of symbols that result from concatenation of vowel modifiers to basic consonants and the conjunction of consonants with modifiers etc. Recognition of Gujarati script is a less studied area and no attempt is made so far to constitute confusion sets of Gujarati glyphs. In this paper, we present confusion sets of glyphs in printed Gujarati. Feature vector made up of Daubechies D4 wavelet coefficients were subjected to two different classifiers, giving more than 96% accuracy for a larger set of symbols. Novel application of GR neural-net architecture allows for fast building of a classifier for the large character data set. The combined approach of wavelet feature extraction and GRNN classification has given the highest recognition accuracy reported on this script.

Intelligent fuzzy controller of a quadrotor <=SEP=> The aim of this work is to describe an intelligent system based on fuzzy logic that is developed to control a quadrotor. A quadrotor is a helicopter with four rotors, that make the vehicle more stable but more complex to model and to control. The quadrotor has been used as a testing platform in the last years for various universities and research centres. A quadrotor has six degrees of freedom, three of them regarding the position: height, horizontal and vertical motions; and the other three are related to the orientation: pitch, roll and yaw. A fuzzy control is designed and implemented to control a simulation model of the quadrotor. The inputs are the desired values of the height, roll, pitch and yaw. The outputs are the power of each of the four rotors that is necessary to reach the specifications. Simulation results prove the efficiency of this intelligent control strategy.

Clearing algorithms for barter exchange markets: enabling nationwide kidney exchanges <=SEP=> In barter-exchange markets, agents seek to swap their items with one another, in order to improve their own utilities. These swaps consist of cycles of agents, with each agent receiving the item of the next agent in the cycle. We focus mainly on the upcoming national kidney-exchange market, where patients with kidney disease can obtain compatible donors by swapping their own willing but incompatible donors. With over 70,000 patients already waiting for a cadaver kidney in the US, this market is seen as the only ethical way to significantly reduce the 4,000 deaths per year attributed to kidney diseas.
 The clearing problem involves finding a social welfare maximizing exchange when the maximum length of a cycle is fixed. Long cycles are forbidden, since, for incentive reasons, all transplants in a cycle must be performed simultaneously. Also, in barter-exchanges generally, more agents are affected if one drops out of a longer cycle. We prove that the clearing problem with this cycle-length constraint is NP-hard. Solving it exactly is one of the main challenges in establishing a national kidney exchange.
 We present the first algorithm capable of clearing these markets on a nationwide scale. The key is incremental problem formulation. We adapt two paradigms for the task: constraint generation and column generation. For each, we develop techniques that dramatically improve both runtime and memory usage. We conclude that column generation scales drastically better than constraint generation. Our algorithm also supports several generalizations, as demanded by real-world kidney exchanges.
 Our algorithm replaced CPLEX as the clearing algorithm of the Alliance for Paired Donation, one of the leading kidney exchanges. The match runs are conducted every two weeks and transplants based on our optimizations have already been conducted.

PeerSpace - An Online Collaborative Learning Environment for Computer Science Students <=SEP=> The aim of Peer Space is to promote peer support and peer learning in introductory Computer Science (CS) courses by providing the students with online collaborative tools for convenient synchronous and asynchronous interactions on course related topics and social matters. This paper presents the development of various social and learning components in Peer Space that are unique in promoting collaborative learning. Analysis of preliminary results is presented.