Expressing Bayesian Fusion as a Product of Distributions: Application to Randomized Hough Transform

Data fusion is a common issue of mobile robotics, computer assisted medical diagnosis or behavioral control of simulated character for instance. However data sources are often noisy, opinion for experts are not known with absolute precision, and motor commands do not act in the same exact manner on the environment. In these cases, classic logic fails to manage efficiently the fusion process. Confronting different knowledge in an uncertain environment can therefore be adequately formalized in the bayesian framework. Besides, bayesian fusion can be expensive in terms of memory usage and processing time. This paper precisely aims at expressing any bayesian fusion process as a product of probability distributions in order to reduce its complexity. We first study both direct and inverse fusion schemes. We show that contrary to direct models, inverse local models need a specific prior in order to allow the fusion to be computed as a product. We therefore propose to add a consistency variable to each local model and we show that these additional variables allow the use of a product of the local distributions in order to compute the global probability distribution over the fused variable. Finally, we take the example of the Randomized Hough Transform. We rewrite it in the bayesian framework, considering that it is a fusion process to extract lines from couples of dots in a picture. As expected, we can find back the expression of the Randomized Hough Transform from the literature with the appropriate assumptions

Expressing Bayesian Fusion as a Product of Distributions: Application in Robotics

More and more fields of applied computer science involve fusion of multiple data sources, such as sensor readings or model decision. However incompleteness of the models prevent the programmer from having an absolute precision over their variables. Therefore bayesian framework can be adequate for such a process as it allows handling of uncertainty.We will be interested in the ability to express any fusion process as a product, for it can lead to reduction of complexity in time and space. We study in this paper various fusion schemes and propose to add a consistency variable to justify the use of a product to compute distribution over the fused variable. We will then show application of this new fusion process to localization of a mobile robot and obstacle avoidance

Numerical simulation of colloid dead-end filtration: effect of membrane characteristics and operating conditions on matter accumulation

The aim of this work is to develop a simulation capability applicable to dead-end filtration of colloidal dispersions in order to investigate the effect of process conditions, such as membrane configuration and operating parameters, on filtration efficiency through the analysis of the appearance of a deposit on the membrane. To reach this goal, a model describing the transport behaviour of a concentrated colloidal dispersion is implemented in a commercial CFD code (ANSYS-CFX). The collective diffusion induced by inter-particle interactions is accounted for from knowledge of the variation of the osmotic pressure with the particle volume fraction. Coupled with a transient, two dimensional hydrodynamic solution, such a model allows description of the mass transport properties both in the dispersed (concentration polarization) and the condensed (deposit) forms of accumulation. Two-dimensional concentration profiles along the membrane are obtained. Simulations are used to understand the role of operating parameters and membrane characteristics on the appearance of a deposit at the membrane surface. This formation is controlled by the hollow fibre configuration, where there are zones working in both cross-flow and dead-end mode due to the particular hydrodynamic conditions

Numerical simulation of colloidal dispersion filtration: description of critical flux and comparison with experimental results

During filtration via membrane processes, colloids accumulate at the porous surface leading to fouling phenomena. In this study, a rigorous simulation of momentum and mass transfer using CFD modelling has been developed to describe such an accumulation during cross flow filtration. These simulations integrate detailed modeling of physicochemical properties specific to colloidal dispersions (because of the surface interactions (repulsive and attractive) occurring between the colloids particles). These interactions are accounted for via the experimental variation of the colloidal osmotic pressure with volume fraction (associated with a variation in the diffusion coefficient) which are fitted by a relationship integrated into the CFD code. It contains a description of the colloidal phase transition leading to the formation of a condensed phase (deposit or gel layer) from the accumulated dispersed phase (concentration polarization). It is then possible to determine the critical flux which separates filtration conditions below which mass accumulation is reversible (in the dispersed phase) and above which it is irreversible (in the condensed phase). The computed value of critical flux is compared with that determined experimentally for a dispersion of latex particles

Tractable Combinations of Global Constraints

We study the complexity of constraint satisfaction problems involving global constraints, i.e., special-purpose constraints provided by a solver and represented implicitly by a parametrised algorithm. Such constraints are widely used; indeed, they are one of the key reasons for the success of constraint programming in solving real-world problems. Previous work has focused on the development of efficient propagators for individual constraints. In this paper, we identify a new tractable class of constraint problems involving global constraints of unbounded arity. To do so, we combine structural restrictions with the observation that some important types of global constraint do not distinguish between large classes of equivalent solutions.Comment: To appear in proceedings of CP'13, LNCS 8124. arXiv admin note: text overlap with arXiv:1307.179

Estimating the Number of Solutions of Cardinality Constraints through range and roots Decompositions

International audienceThis paper introduces a systematic approach for estimating the number of solutions of cardinality constraints. A main difficulty of solutions counting on a specific constraint lies in the fact that it is, in general, at least as hard as developing the constraint and its propaga-tors, as it has been shown on alldifferent and gcc constraints. This paper introduces a probabilistic model to systematically estimate the number of solutions on a large family of cardinality constraints including alldifferent, nvalue, atmost, etc. Our approach is based on their decomposition into range and roots, and exhibits a general pattern to derive such estimates based on the edge density of the associated variable-value graph. Our theoretical result is finally implemented within the maxSD search heuristic, that aims at exploring first the area where there are likely more solutions

Conjunctions of Among Constraints

Many existing global constraints can be encoded as a conjunction of among constraints. An among constraint holds if the number of the variables in its scope whose value belongs to a prespecified set, which we call its range, is within some given bounds. It is known that domain filtering algorithms can benefit from reasoning about the interaction of among constraints so that values can be filtered out taking into consideration several among constraints simultaneously. The present pa- per embarks into a systematic investigation on the circumstances under which it is possible to obtain efficient and complete domain filtering algorithms for conjunctions of among constraints. We start by observing that restrictions on both the scope and the range of the among constraints are necessary to obtain meaningful results. Then, we derive a domain flow-based filtering algorithm and present several applications. In particular, it is shown that the algorithm unifies and generalizes several previous existing results.Comment: 15 pages plus appendi

The AllDifferent Constraint with Precedences

We propose ALLDIFFPREC, a new global constraint that combines together an ALLDIFFERENT constraint with precedence constraints that strictly order given pairs of variables. We identify a number of applications for this global constraint including instruction scheduling and symmetry breaking. We give an efficient propagation algorithm that enforces bounds consistency on this global constraint. We show how to implement this propagator using a decomposition that extends the bounds consistency enforcing decomposition proposed for the ALLDIFFERENT constraint. Finally, we prove that enforcing domain consistency on this global constraint is NP-hard in general

Antiplasmodial volatile extracts from Cleistopholis patens Engler & Diels and Uvariastrum pierreanum Engl. (Engl. & Diels) (Annonaceae) growing in Cameroon

In a search for alternative treatment for malaria, plant-derived essential oils extracted from the stem barks and leaves of Cleistopholis patens and Uvariastrum pierreanum (Annonaceae) were evaluated in vitro for antiplasmodial activity against the W2 strain of Plasmodium falciparum. The oils were obtained from 500 g each of stem barks and leaves, respectively, by hydrodistillation, using a Clevenger-type apparatus with the following yields: 0.23% and 0.19% for C. patens and 0.1% and 0.3% for U. pierreanum (w/w relative to dried material weight). Analysis of 10% (v/v) oil in hexane by gas chromatography and mass spectrometry identified only terpenoids in the oils, with over 81% sesquiterpene hydrocarbons in C. patens extracts and U. pierreanum stem bark oil, while the leaf oil from the latter species was found to contain a majority of monoterpenes. For C. patens, the major components were α-copaene, δ-cadinene, and germacrene D for the stem bark oil and β-caryophyllene, germacrene D, and germacrene B for the leaf oil. The stem bark oil of U. pierreanum was found to contain mainly β-bisabolene and α-bisabolol, while α- and β-pinenes were more abundant in the leaf extract. Concentrations of oils obtained by diluting 1-mg/mL stock solutions were tested against P. falciparum in culture. The oils were active, with IC50 values of 9.19 and 15.19 μg/mL for the stem bark and leaf oils, respectively, of C. patens and 6.08 and 13.96 μg/mL, respectively, for those from U. pierreanum. These results indicate that essential oils may offer a promising alternative for the development of new antimalarials

A preliminary investigation into the prevalence and prediction of problematic cell phone use

Abstract Background and aims Likening mobile phone use dependency to the classification of excessive behaviors may be necessarily equivalent in seriousness to previously established addictions such as problematic computing or excessive gambling. The aim of the study explores into the behavior of excessive use of mobile phones as a pathological behavior. Methods Two studies investigated criteria for problematic mobile phone usage by examining student (Study 1, N = 301) and nonstudent (Study 2, N = 362) responses to a set of adapted mobile phone addiction inventories. Study 1 investigated cell phone addiction inventories as constructs designed to measure problematic cell phone use. Additionally, Study 2 sought to predict age, depression, extraversion, emotional stability, impulse control, and self-esteem as independent variables that augment respondents' perceptions of problematic use. Results The results from Study 1 and Study 2 indicate that 10 to 25% of the participants tested exhibited problematic cell phone usage. Additionally, age, depression, extraversion, and low impulse control are the most suitable predictors for problematic use. Conclusions The results of the two studies indicate that problematic mobile phone use does occur and ought to be taken seriously by the psychological community. Presently, there is limited data providing conclusive evidence for a comprehensible categorization of cell phone addiction, as well as a unified explanatory model specific to problematic mobile phone use. Studies such as this one may contribute substantial findings, adding scientific significance, and offering a valuable submission for the ongoing progress of creating intervention frameworks relative to “virtual addictions”