On Sussmann theorem for orbits of sets of vector fields on Banach manifolds

The purpose of this paper is to give some generalizations, in the context of Banach mani- folds, of Sussmann's results about the orbits of families of vector fields ([Su]). Essentially, we define the notion of "l1-orbits" for any family of vector fields on a Banach manifold, and we prove, under appropriate assumptions, that such an orbit is a weak Banach submanifold

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Semantic knowledge integration for learning from semantically imprecise data

Low availability of labeled training data often poses a fundamental limit to the accuracy of computer vision applications using machine learning methods. While these methods are improved continuously, e.g., through better neural network architectures, there cannot be a single methodical change that increases the accuracy on all possible tasks. This statement, known as the no free lunch theorem, suggests that we should consider aspects of machine learning other than learning algorithms for opportunities to escape the limits set by the available training data. In this thesis, we focus on two main aspects, namely the nature of the training data, where we introduce structure into the label set using concept hierarchies, and the learning paradigm, which we change in accordance with requirements of real-world applications as opposed to more academic setups.Concept hierarchies represent semantic relations, which are sets of statements such as "a bird is an animal." We propose a hierarchical classifier to integrate this domain knowledge in a pre-existing task, thereby increasing the information the classifier has access to. While the hierarchy's leaf nodes correspond to the original set of classes, the inner nodes are "new" concepts that do not exist in the original training data. However, we pose that such "imprecise" labels are valuable and should occur naturally, e.g., as an annotator's way of expressing their uncertainty. Furthermore, the increased number of concepts leads to more possible search terms when assembling a web-crawled dataset or using an image search. We propose CHILLAX, a method that learns from semantically imprecise training data, while still offering precise predictions to integrate seamlessly into a pre-existing application