An adaptive multilevel indexing method for disaster service discovery

With the globe facing various scales of natural disasters then and there, disaster recovery is one among the hottest research areas and the rescue and recovery services can be highly benefitted with the advancements of information and communications technology (ICT). Enhanced rescue effect can be achieved through the dynamic networking of people, systems and procedures. A seamless integration of these elements along with the service-oriented systems can satisfy the mission objectives with the maximum effect. In disaster management systems, services from multiple sources are usually integrated and composed into a usable format in order to effectively drive the decision-making process. Therefore, a novel service indexing method is required to effectively discover desirable services from the large-scale disaster service repositories, comprising a huge number of services. With this in mind, this paper presents a novel multilevel indexing algorithm based on the equivalence theory in order to achieve effective service discovery in large-scale disaster service repositories. The performance and efficiency of the proposed model have been evaluated by both theoretical analysis and practical experiments. The experimental results proved that the proposed algorithm is more efficient for service discovery and composition than existing inverted index methods

Entropy/IP: Uncovering Structure in IPv6 Addresses

In this paper, we introduce Entropy/IP: a system that discovers Internet address structure based on analyses of a subset of IPv6 addresses known to be active, i.e., training data, gleaned by readily available passive and active means. The system is completely automated and employs a combination of information-theoretic and machine learning techniques to probabilistically model IPv6 addresses. We present results showing that our system is effective in exposing structural characteristics of portions of the IPv6 Internet address space populated by active client, service, and router addresses. In addition to visualizing the address structure for exploration, the system uses its models to generate candidate target addresses for scanning. For each of 15 evaluated datasets, we train on 1K addresses and generate 1M candidates for scanning. We achieve some success in 14 datasets, finding up to 40% of the generated addresses to be active. In 11 of these datasets, we find active network identifiers (e.g., /64 prefixes or `subnets') not seen in training. Thus, we provide the first evidence that it is practical to discover subnets and hosts by scanning probabilistically selected areas of the IPv6 address space not known to contain active hosts a priori.Comment: Paper presented at the ACM IMC 2016 in Santa Monica, USA (https://dl.acm.org/citation.cfm?id=2987445). Live Demo site available at http://www.entropy-ip.com

Evaluating indoor positioning systems in a shopping mall : the lessons learned from the IPIN 2018 competition

The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) and post-processing (off-site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on-site and two off-site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on-site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off-site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light-weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future

Ancestral Components of Admixed Genomes in a Mexican Cohort

For most of the world, human genome structure at a population level is shaped by interplay between ancient geographic isolation and more recent demographic shifts, factors that are captured by the concepts of biogeographic ancestry and admixture, respectively. The ancestry of non-admixed individuals can often be traced to a specific population in a precise region, but current approaches for studying admixed individuals generally yield coarse information in which genome ancestry proportions are identified according to continent of origin. Here we introduce a new analytic strategy for this problem that allows fine-grained characterization of admixed individuals with respect to both geographic and genomic coordinates. Ancestry segments from different continents, identified with a probabilistic model, are used to construct and study “virtual genomes” of admixed individuals. We apply this approach to a cohort of 492 parent–offspring trios from Mexico City. The relative contributions from the three continental-level ancestral populations—Africa, Europe, and America—vary substantially between individuals, and the distribution of haplotype block length suggests an admixing time of 10–15 generations. The European and Indigenous American virtual genomes of each Mexican individual can be traced to precise regions within each continent, and they reveal a gradient of Amerindian ancestry between indigenous people of southwestern Mexico and Mayans of the Yucatan Peninsula. This contrasts sharply with the African roots of African Americans, which have been characterized by a uniform mixing of multiple West African populations. We also use the virtual European and Indigenous American genomes to search for the signatures of selection in the ancestral populations, and we identify previously known targets of selection in other populations, as well as new candidate loci. The ability to infer precise ancestral components of admixed genomes will facilitate studies of disease-related phenotypes and will allow new insight into the adaptive and demographic history of indigenous people

Map-Based Localization for Unmanned Aerial Vehicle Navigation

Unmanned Aerial Vehicles (UAVs) require precise pose estimation when navigating in indoor and GNSS-denied / GNSS-degraded outdoor environments. The possibility of crashing in these environments is high, as spaces are confined, with many moving obstacles. There are many solutions for localization in GNSS-denied environments, and many different technologies are used. Common solutions involve setting up or using existing infrastructure, such as beacons, Wi-Fi, or surveyed targets. These solutions were avoided because the cost should be proportional to the number of users, not the coverage area. Heavy and expensive sensors, for example a high-end IMU, were also avoided. Given these requirements, a camera-based localization solution was selected for the sensor pose estimation. Several camera-based localization approaches were investigated. Map-based localization methods were shown to be the most efficient because they close loops using a pre-existing map, thus the amount of data and the amount of time spent collecting data are reduced as there is no need to re-observe the same areas multiple times. This dissertation proposes a solution to address the task of fully localizing a monocular camera onboard a UAV with respect to a known environment (i.e., it is assumed that a 3D model of the environment is available) for the purpose of navigation for UAVs in structured environments. Incremental map-based localization involves tracking a map through an image sequence. When the map is a 3D model, this task is referred to as model-based tracking. A by-product of the tracker is the relative 3D pose (position and orientation) between the camera and the object being tracked. State-of-the-art solutions advocate that tracking geometry is more robust than tracking image texture because edges are more invariant to changes in object appearance and lighting. However, model-based trackers have been limited to tracking small simple objects in small environments. An assessment was performed in tracking larger, more complex building models, in larger environments. A state-of-the art model-based tracker called ViSP (Visual Servoing Platform) was applied in tracking outdoor and indoor buildings using a UAVs low-cost camera. The assessment revealed weaknesses at large scales. Specifically, ViSP failed when tracking was lost, and needed to be manually re-initialized. Failure occurred when there was a lack of model features in the cameras field of view, and because of rapid camera motion. Experiments revealed that ViSP achieved positional accuracies similar to single point positioning solutions obtained from single-frequency (L1) GPS observations standard deviations around 10 metres. These errors were considered to be large, considering the geometric accuracy of the 3D model used in the experiments was 10 to 40 cm. The first contribution of this dissertation proposes to increase the performance of the localization system by combining ViSP with map-building incremental localization, also referred to as simultaneous localization and mapping (SLAM). Experimental results in both indoor and outdoor environments show sub-metre positional accuracies were achieved, while reducing the number of tracking losses throughout the image sequence. It is shown that by integrating model-based tracking with SLAM, not only does SLAM improve model tracking performance, but the model-based tracker alleviates the computational expense of SLAMs loop closing procedure to improve runtime performance. Experiments also revealed that ViSP was unable to handle occlusions when a complete 3D building model was used, resulting in large errors in its pose estimates. The second contribution of this dissertation is a novel map-based incremental localization algorithm that improves tracking performance, and increases pose estimation accuracies from ViSP. The novelty of this algorithm is the implementation of an efficient matching process that identifies corresponding linear features from the UAVs RGB image data and a large, complex, and untextured 3D model. The proposed model-based tracker improved positional accuracies from 10 m (obtained with ViSP) to 46 cm in outdoor environments, and improved from an unattainable result using VISP to 2 cm positional accuracies in large indoor environments. The main disadvantage of any incremental algorithm is that it requires the camera pose of the first frame. Initialization is often a manual process. The third contribution of this dissertation is a map-based absolute localization algorithm that automatically estimates the camera pose when no prior pose information is available. The method benefits from vertical line matching to accomplish a registration procedure of the reference model views with a set of initial input images via geometric hashing. Results demonstrate that sub-metre positional accuracies were achieved and a proposed enhancement of conventional geometric hashing produced more correct matches - 75% of the correct matches were identified, compared to 11%. Further the number of incorrect matches was reduced by 80%

Interactive Feature Selection and Visualization for Large Observational Data

Data can create enormous values in both scientific and industrial fields, especially for access to new knowledge and inspiration of innovation. As the massive increases in computing power, data storage capacity, as well as capability of data generation and collection, the scientific research communities are confronting with a transformation of exploiting the advanced uses of the large-scale, complex, and high-resolution data sets in situation awareness and decision-making projects. To comprehensively analyze the big data problems requires the analyses aiming at various aspects which involves of effective selections of static and time-varying feature patterns that fulfills the interests of domain users. To fully utilize the benefits of the ever-growing size of data and computing power in real applications, we proposed a general feature analysis pipeline and an integrated system that is general, scalable, and reliable for interactive feature selection and visualization of large observational data for situation awareness. The great challenge tackled in this dissertation was about how to effectively identify and select meaningful features in a complex feature space. Our research efforts mainly included three aspects: 1. Enable domain users to better define their interests of analysis; 2. Accelerate the process of feature selection; 3. Comprehensively present the intermediate and final analysis results in a visualized way. For static feature selection, we developed a series of quantitative metrics that related the user interest with the spatio-temporal characteristics of features. For timevarying feature selection, we proposed the concept of generalized feature set and used a generalized time-varying feature to describe the selection interest. Additionally, we provided a scalable system framework that manages both data processing and interactive visualization, and effectively exploits the computation and analysis resources. The methods and the system design together actualized interactive feature selections from two representative large observational data sets with large spatial and temporal resolutions respectively. The final results supported the endeavors in applications of big data analysis regarding combining the statistical methods with high performance computing techniques to visualize real events interactively

Training of Crisis Mappers and Map Production from Multi-sensor Data: Vernazza Case Study (Cinque Terre National Park, Italy)

This aim of paper is to presents the development of a multidisciplinary project carried out by the cooperation between Politecnico di Torino and ITHACA (Information Technology for Humanitarian Assistance, Cooperation and Action). The goal of the project was the training in geospatial data acquiring and processing for students attending Architecture and Engineering Courses, in order to start up a team of "volunteer mappers". Indeed, the project is aimed to document the environmental and built heritage subject to disaster; the purpose is to improve the capabilities of the actors involved in the activities connected in geospatial data collection, integration and sharing. The proposed area for testing the training activities is the Cinque Terre National Park, registered in the World Heritage List since 1997. The area was affected by flood on the 25th of October 2011. According to other international experiences, the group is expected to be active after emergencies in order to upgrade maps, using data acquired by typical geomatic methods and techniques such as terrestrial and aerial Lidar, close-range and aerial photogrammetry, topographic and GNSS instruments etc.; or by non conventional systems and instruments such us UAV, mobile mapping etc. The ultimate goal is to implement a WebGIS platform to share all the data collected with local authorities and the Civil Protectio