Analyzing Trails in Complex Networks

Even more interesting than the intricate organization of complex networks are the dynamical behavior of systems which such structures underly. Among the many types of dynamics, one particularly interesting category involves the evolution of trails left by moving agents progressing through random walks and dilating processes in a complex network. The emergence of trails is present in many dynamical process, such as pedestrian traffic, information flow and metabolic pathways. Important problems related with trails include the reconstruction of the trail and the identification of its source, when complete knowledge of the trail is missing. In addition, the following of trails in multi-agent systems represent a particularly interesting situation related to pedestrian dynamics and swarming intelligence. The present work addresses these three issues while taking into account permanent and transient marks left in the visited nodes. Different topologies are considered for trail reconstruction and trail source identification, including four complex networks models and four real networks, namely the Internet, the US airlines network, an email network and the scientific collaboration network of complex network researchers. Our results show that the topology of the network influence in trail reconstruction, source identification and agent dynamics.Comment: 10 pages, 16 figures. A working manuscript, comments and criticisms welcome

Business Process Retrieval Based on Behavioral Semantics

This paper develops a framework for retrieving business processes considering search requirements based on behavioral semantics properties; it presents a framework called "BeMantics" for retrieving business processes based on structural, linguistics, and behavioral semantics properties. The relevance of the framework is evaluated retrieving business processes from a repository, and collecting a set of relevant business processes manually issued by human judges. The "BeMantics" framework scored high precision values (0.717) but low recall values (0.558), which implies that even when the framework avoided false negatives, it prone to false positives. The highest pre- cision value was scored in the linguistic criterion showing that using semantic inference in the tasks comparison allowed to reduce around 23.6 % the number of false positives. Using semantic inference to compare tasks of business processes can improve the precision; but if the ontologies are from narrow and specific domains, they limit the semantic expressiveness obtained with ontologies from more general domains. Regarding the perform- ance, it can be improved by using a filter phase which indexes business processes taking into account behavioral semantics propertie

Indexing large genome collections on a PC

Motivation: The availability of thousands of invidual genomes of one species should boost rapid progress in personalized medicine or understanding of the interaction between genotype and phenotype, to name a few applications. A key operation useful in such analyses is aligning sequencing reads against a collection of genomes, which is costly with the use of existing algorithms due to their large memory requirements. Results: We present MuGI, Multiple Genome Index, which reports all occurrences of a given pattern, in exact and approximate matching model, against a collection of thousand(s) genomes. Its unique feature is the small index size fitting in a standard computer with 16--32\,GB, or even 8\,GB, of RAM, for the 1000GP collection of 1092 diploid human genomes. The solution is also fast. For example, the exact matching queries are handled in average time of 39\,$\mu$s and with up to 3 mismatches in 373\,$\mu$s on the test PC with the index size of 13.4\,GB. For a smaller index, occupying 7.4\,GB in memory, the respective times grow to 76\,$\mu$s and 917\,$\mu$s. Availability: Software and Suuplementary material: \url{http://sun.aei.polsl.pl/mugi}

Fault-tolerant formation driving mechanism designed for heterogeneous MAVs-UGVs groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper

A proposal of an architecture for the coordination level of intelligent machines

The issue of obtaining a practical, structured, and detailed description of an architecture for the Coordination Level of Center for Intelligent Robotic Systems for Sapce Exploration (CIRSSE) Testbed Intelligent Controller is addressed. Previous theoretical and implementation works were the departure point for the discussion. The document is organized as follows: after this introductory section, section 2 summarizes the overall view of the Intelligent Machine (IM) as a control system, proposing a performance measure on which to base its design. Section 3 addresses with some detail implementation issues. An hierarchic petri-net with feedback-based learning capabilities is proposed. Finally, section 4 is an attempt to address the feedback problem. Feedback is used for two functions: error recovery and reinforcement learning of the correct translations for the petri-net transitions