Rich-club vs rich-multipolarization phenomena in weighted networks

Large scale hierarchies characterize complex networks in different domains. Elements at their top, usually the most central or influential, may show multipolarization or tend to club forming tightly interconnected communities. The rich-club phenomenon quantified this tendency based on unweighted network representations. Here, we define this metric for weighted networks and discuss the appropriate normalization which preserves nodes' strengths and discounts structural strength-strength correlations if present. We find that in some real networks the results given by the weighted rich-club coefficient can be in sharp contrast to the ones in the unweighted approach. We also discuss that the scanning of the weighted subgraphs formed by the high-strength hubs is able to unveil features contrary to the average: the formation of local alliances in rich-multipolarized environments, or a lack of cohesion even in the presence of rich-club ordering. Beyond structure, this analysis matters for understanding correctly functionalities and dynamical processes relying on hub interconnectedness.Comment: 12 pages, 2 figure

Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step Negotiation

Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining increasing interest in robotics research as it improves the robots environmental adaptability, locomotion versatility, and operational flexibility. Within the terrestrial multiple locomotion robots, the advantage of hybrid robots stems from their multiple (two or more) locomotion modes, among which robots can select from depending on the encountering terrain conditions. However, there are many challenges in improving the autonomy of the locomotion mode transition between their multiple locomotion modes. This work proposed a method to realize an autonomous locomotion mode transition of a track-legged quadruped robot steps negotiation. The autonomy of the decision-making process was realized by the proposed criterion to comparing energy performances of the rolling and walking locomotion modes. Two climbing gaits were proposed to achieve smooth steps negotiation behaviours for energy evaluation purposes. Simulations showed autonomous locomotion mode transitions were realized for negotiations of steps with different height. The proposed method is generic enough to be utilized to other hybrid robots after some pre-studies of their locomotion energy performances

Fast Fight Detection

Action recognition has become a hot topic within computer vision. However, the action recognition community has focused mainly on relatively simple actions like clapping, walking, jogging, etc. The detection of specific events with direct practical use such as fights or in general aggressive behavior has been comparatively less studied. Such capability may be extremely useful in some video surveillance scenarios like prisons, psychiatric centers or even embedded in camera phones. As a consequence, there is growing interest in developing violence detection algorithms. Recent work considered the well-known Bag-of-Words framework for the specific problem of fight detection. Under this framework, spatio-temporal features are extracted from the video sequences and used for classification. Despite encouraging results in which high accuracy rates were achieved, the computational cost of extracting such features is prohibitive for practical applications. This work proposes a novel method to detect violence sequences. Features extracted from motion blobs are used to discriminate fight and non-fight sequences. Although the method is outperformed in accuracy by state of the art, it has a significantly faster computation time thus making it amenable for real-time applications

Genetic Relationships and Ancestral Character State Reconstructions of Psychotria L. Sect. Straussia (A. Gray) Fosberg (Rubiaceae).

M.S. Thesis. University of Hawaiʻi at Mānoa 2018