Everyday dwelling with WhatsApp

In this paper, we present a study of WhatsApp, an instant messaging smartphone application. Through our interviews with participants, we develop anthopologist Tim Ingold's notion of dwelling, and discuss how use of WhatsApp is constitutive of a felt-life of being together with those close by. We focus on the relationship "doings" in WhatsApp and how this togetherness and intimacy are enacted through small, continuous traces of narrative, of tellings and tidbits, noticings and thoughts, shared images and lingering pauses; this is constitutive of dwelling. Further, we discuss how an intimate knowing of others in these relationships, through past encounters and knowledge of coming together in the future, pertain to the particular forms of relationship engagements manifest through the possibilities presented in WhatsApp. We suggest that this form of sociality is likely to be manifest in other smartphone IM-like applications.


Enabling Real-Time Context-Aware Collaboration through 5G and Mobile Edge Computing

Creating context-aware ad hoc collaborative systems remains to be one of the primary hurdles hampering the ubiquitous deployment of IT and communication services. Especially under mission-critical scenarios, these services must often adhere to strict timing deadlines. We believe empowering such realtime collaboration systems requires context-aware application platforms working in conjunction with ultra-low latency data transmissions. In this paper, we make a strong case that this could be accomplished by combining the novel communication architectures being proposed for 5G with the principles of Mobile Edge Computing (MEC). We show that combining 5G with MEC would enable inter- and intra-domain use cases that are otherwise not feasible.


Modeling of magnetically biased graphene patch frequency selective surface (FSS)

A free-standing magnetically biased graphene patch frequency selective surface (FSS) is modelled in this paper. Its transmission coefficients of co- and cross-polarizations can be obtained with an equivalent tensorial surface conductivity. Then, the rotation angle for normal incidence is explored with different values of biasing magnetic field B0. The maximum rotation angle provided by the magnetically biased graphene patch FSS is 43° at 4.7 THz with B0=2.5 T, which is much larger than the rotation angle provided by a graphene sheet. This is very promising for THz nano-devices based on the giant Faraday rotation of graphenes.


Cooperative Localization for Autonomous Underwater Vehicles

Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons. This thesis examines the scenario in which the members of a group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed. Thesis Supervisor: John J. Leonard Title: Professor of Mechanical and Ocean Engineering Massachusetts Institute of Technology Acknowledgments This thesis would not have been possible without the help and support of many friends and colleagues who made the last five years at MIT an exceptionally fulfilling experience. I would like to thank my advisor John Leonard who strongly supported me ever since our first email exchange in 2003. He guided me all the way through the application process, research, thesis and finding a post doc position. His broad range of research interests enabled me to find a thesis subject that exactly matched my interest. And I very much appreciated him allowing me to take a significant amount of time to pursue other projects as well as travel. I would also like to thank my other committee members: Henrik Schmidt for his continued support and great company during several research cruises, and Hanu Singh and Arjuna Balasuriya for their helpful suggestions during my thesis writing. Many thanks to David Battle who helped me through my first steps with Autonomous Underwater Vehicles and was a great mate to have around. Many of the experiments presented in this thesis would not have been possible without the support of Andrew Patrikalakis. The results owe a lot to his countless hours of coding assistance and his efforts to ensure that the kayaks would be ready when needed. They were also made possible by Joe Curcio, the builder of the kayaks, and the support of Jacques Leedekerken and Kevin Cockrell. The last years would not have been the same without the many great people I met at MIT. Most important was Matt Walter who convinced me in August 2003 that MIT is not only an interesting place, but that it can be very friendly as well. Throughout the years we shared many great personal and academic experiences. I wish him all the best, wherever life may take him. Patrycja unfortunately left our lab, but made up for it by taking me on a very memorable trip across the country. I wish Alec, Emma, Albert, Tom, Olivier and Aisha all the best for their remaining time and life beyond. Iuliu was always a welcome distraction in the United States and abroad and a great help with all hardware questions. I was glad to join Carrick, Marty and David on a number of exciting research and conference trips, as well as their advisor Daniela Rus. In the last months I was also very fortunate to meet a new group of people. First, I am very thankful to Maurice for carrying on what I started I cannot imagine somebody better suited for it and also Been, Georgios, Hordur and Rob. I would also like to thank the many people of the SEA 2007 cruise, particularly the B watch and Julian, Jamie, Heather, Chris, Toby and Jane. One of the most exciting things during my time at MIT was that I was not only able to pursue my thesis topic but also two other projects. First, the flood warning project introduced me to Elizabeth Basha. We shared many joyful moments as well as blood, sweat and tears in the Central American wilderness. I hope that the end of my PhD only marks the beginning of that partnership. Second, the harbor porpoise tag project led by Stacy DeRuiter was a great design challenge. It also provided an opportunity to reach into other areas of ocean sciences by contributing to marine biology research. Her dedication along with the support from Mark Johnson, Peter Tyack and Tom Hurst ensured the project’s success. The exciting results and the process leading up to them rewarded me with a better experience at MIT than I could have ever hoped for. I would like to thank John Leonard for letting me take this scenic route. The path that led me to MIT would not have been possible without the support from people in the early stages of my engineering career who I would like to thank here: Raimund Eich for patiently answering my first electrical engineering questions; my best friends Jan Horn, Daniel Steffensky, Alexander Zimmer and Ulf Radenz for helping me through my university time in Germany; and John Peatman, Ludger Becks and Uwe Zimmer for their academic guidance. Finally, I would like to thank my parents for their continued support and especially Melissa Pitotti for her encouragement not only to start the work at this institution but also to finish it when the time had come. This work was funded by Office of Naval Research grants N00014-97-1-0202, N00014-05-1-0255, N00014-02-C-0210, N00014-07-1-1102 and the ASAP MURI program led by Naomi Leonard of Princeton University. “One degree is not a large distance. On a compass it is scarcely the thickness of a fingernail. But in certain conditions, one degree can be a very large distance. Enough to unmake a man.” The Mysterious Geographic Explorations of Jasper Morello, c © 3D Films, Australia 2005 Meinen Eltern & meinem Bruder


Blitz: A Principled Meta-Algorithm for Scaling Sparse Optimization

By reducing optimization to a sequence of small subproblems, working set methods achieve fast convergence times for many challenging problems. Despite excellent performance, theoretical understanding of working sets is limited, and implementations often resort to heuristics to determine subproblem size, makeup, and stopping criteria. We propose BLITZ, a fast working set algorithm accompanied by useful guarantees. Making no assumptions on data, our theory relates subproblem size to progress toward convergence. This result motivates methods for optimizing algorithmic parameters and discarding irrelevant variables as iterations progress. Applied to `1-regularized learning, BLITZ convincingly outperforms existing solvers in sequential, limited-memory, and distributed settings. BLITZ is not specific to `1-regularized learning, making the algorithm relevant to many applications involving sparsity or constraints.


Using Case Studies in Research

Case study as a research strategy often emerges as an obvious option for students and other new researchers who are seeking to undertake a modest scale research project based on their workplace or the comparison of a limited number of organisations. The most challenging aspect of the application of case study research in this context is to lift the investigation from a descriptive account of ‘what happens’ to a piece of research that can lay claim to being a worthwhile, if modest addition to knowledge. This article draws heavily on established textbooks on case study research and related areas, such as Yin, 1994, Hamel et al., 1993, Eaton, 1992, Gomm, 2000, Perry, 1998, and Saunders et al., 2000 but seeks to distil key aspects of case study research in such a way as to encourage new researchers to grapple with and apply some of the key principles of this research approach. The article explains when case study research can be used, research design, data collection, and data analysis, and finally offers suggestions for drawing on the evidence in writing up a report or dissertation.


Comparative Evaluation of Binary Features

Performance evaluation of salient features has a long-standing tradition in computer vision. In this paper, we fill the gap of evaluation for the recent wave of binary feature descriptors, which aim to provide robustness while achieving high computational efficiency. We use established metrics to embed our assessment into the body of existing evaluations, allowing us to provide a novel taxonomy unifying both traditional and novel binary features. Moreover, we analyze the performance of different detector and descriptor pairings, which are often used in practice but have been infrequently analyzed. Additionally, we complement existing datasets with novel data testing for illumination change, pure camera rotation, pure scale change, and the variety present in photo-collections. Our performance analysis clearly demonstrates the power of the new class of features. To benefit the community, we also provide a website for the automatic testing of new description methods using our provided metrics and datasets (www.cs.unc.edu/feature-evaluation).


Appraisal of homogeneous techniques in Distributed Data Mining: classifier approach

In recent years, Distributed Data Mining (DDM) has evolved in large space aiming at minimizing computation cost and memory overhead in processing huge geographically distributed data. There are two approaches of DDM -- homogeneous and heterogeneous classifier approach. This paper presents implementation of four homogeneous classifier techniques for DDM with different Electronic Health Records (EHRs) homogeneous datasets namely diabetes, hepatitis, hypothyroid and further analyzing results based on metric evaluation.


Effects of loneliness and differential usage of Facebook on college adjustment of first-year students

The popularity of social network sites (SNSs) among college students has stimulated scholarship examining the relationship between SNS use and college adjustment. The present research furthers our understanding of SNS use by studying the relationship between loneliness, varied dimensions of Facebook use, and college adjustment among first-year students. We looked at three facets of college adjustment: social adjustment, academic motivation, and perceived academic performance. Compulsive use of Facebook had a stronger association with academic motivation than habitual use of Facebook, but neither were directly correlated with academic performance. Too much time spent on Facebook was weakly but directly associated with poorer perceived academic performance. Loneliness was a stronger indicator of college adjustment than any dimension of Facebook usage. 2014 Elsevier Ltd. All rights reserved.


MXNet: A Flexible and Efficient Machine Learning Library for Heterogeneous Distributed Systems

MXNet is a multi-language machine learning (ML) library to ease the development of ML algorithms, especially for deep neural networks. Embedded in the host language, it blends declarative symbolic expression with imperative tensor computation. It offers auto differentiation to derive gradients. MXNet is computation and memory efficient and runs on various heterogeneous systems, ranging from mobile devices to distributed GPU clusters. This paper describes both the API design and the system implementation of MXNet, and explains how embedding of both symbolic expression and tensor operation is handled in a unified fashion. Our preliminary experiments reveal promising results on large scale deep neural network applications using multiple GPU machines.


Status of Serverless Computing and Function-as-a-Service(FaaS) in Industry and Research

This whitepaper summarizes issues raised during the First International Workshop on Serverless Computing (WoSC) 2017 held June 5th 2017 and especially in the panel and associated discussion that concluded the workshop. We also include comments from the keynote and submitted papers. A glossary at the end (section 8) defines many technical terms used in this report.


Building a Chatbot with Serverless Computing

Chatbots are emerging as the newest platform used by millions of consumers worldwide due in part to the commoditization of natural language services, which provide provide developers with many building blocks to create chatbots inexpensively. However, it is still difficult to build and deploy chatbots. Developers need to handle the coordination of the cognitive services to build the chatbot interface, integrate the chatbot with external services, and worry about extensibility, scalability, and maintenance. In this work, we present the architecture and prototype of a chatbot using a serverless platform, where developers compose stateless functions together to perform useful actions. We describe our serverless architecture based on function sequences, and how we used these functions to coordinate the cognitive microservices in the Watson Developer Cloud to allow the chatbot to interact with external services. The serverless model improves the extensibility of our chatbot, which currently supports 6 abilities: location based weather reports, jokes, date, reminders, and a simple music tutor.


Serverless Computing: Design, Implementation, and Performance

We present the design of a novel performance-oriented serverless computing platform implemented in. NET, deployed in Microsoft Azure, and utilizing Windows containers as function execution environments. Implementation challenges such as function scaling and container discovery, lifecycle, and reuse are discussed in detail. We propose metrics to evaluate the execution performance of serverless platforms and conduct tests on our prototype as well as AWS Lambda, Azure Functions, Google Cloud Functions, and IBM's deployment of Apache OpenWhisk. Our measurements show the prototype achieving greater throughput than other platforms at most concurrency levels, and we examine the scaling and instance expiration trends in the implementations. Additionally, we discuss the gaps and limitations in our current design, propose possible solutions, and highlight future research.


Cloud-Native, Event-Based Programming for Mobile Applications

Creating mobile applications often requires both client and server-side code development, each requiring vastly different skills. Recently, cloud providers like Amazon and Google introduced "server-less" programming models that abstract away many infrastructure concerns and allow developers to focus on their application logic. In this demonstration, we introduce OpenWhisk, our system for constructing cloud native actions, within the context of mobile application development process. We demonstrate how OpenWhisk is used in mobile application development, allows cloud API customizations for mobile, and simplifies mobile application architectures.


Whose Book is it Anyway ? Using Machine Learning to Identify the Author of Unknown Texts

In this paper, we present an implementation of a new method for text classification that achieves significantly faster results than most existing classifiers. We extract features that are computationally efficient and forgo more computationally expensive ones used by many other text classifiers, most notably n-grams (contiguous sequences of n words). We then analyze the feature vectors through a hybrid SVM technique that sequentially classifies them with a one-versus-all classifier and a sequence of binary classifiers. Our overall method finishes execution within seconds on large novels, with accuracy comparable to that of standard classifiers but with a significantly shorter runtime.


Discussions in the comments section: Factors influencing participation and interactivity in online newspapers' reader comments

Posting comments on the news is one of the most popular forms of user participation in online newspapers, and there is great potential for public discourse that is associated with this form of user communication. However, this potential arises only when several users participate in commenting and when their communication becomes interactive. Based on an adaption of Galtung and Ruge’s theory of newsworthiness, we hypothesized that a news article’s news factors affect both participation levels and interactivity in a news item’s comments section. The data from an online content analysis of political news are consistent with the hypotheses. This article explores the ways in which news factors affect participation levels and interactivity, and it discusses the theoretical, normative, and practical implications of those findings.


Analogical Mapping by Constraint Satisfaction

similarity. Units not yet reached asymptote: 0 Goodness of network: 0.61 Calculating the best mappings after 72 cycles. Best mapping of SMART is HUNGRY. 0.70 Best mapping of TALL is FRIENDLY. 0.71 Best mapping of TIMID is FRISKY. 0.54 Best mopping of TOM is BLACKIE. 0.70 Best mapping of STEVE is FIDO. 0.54 Best mopping of BILL is ROVER. 0.71 by ACME for this example. The five sentences corresponding to the five propositions in each analog (e.g., “Bill is smart”) were listed in adjacent colunms on a piece of paper. Sentences related to the same individual were listed consecutively; otherwise, the order was scrambled. Across subjects two different orders were used. The instructions simply stated, “Your task is to figure out what in the left set of sentences corresponds to what in the right set of sentences.” Subjects were also told that the meaning of the words was irrelevant. The three individuals and three attributes of the analog on the left were listed on the bottom of the page; for each element, subjects were to write down what they believed to be the corresponding element of the analog on the right. Three minutes were allowed for completion of the task. A group of 8 UCLA students in an undergraduate psychology class served as subjects. Five subjects produced the same set of six correspondences identified by ACME, 2 subjects produced four of the six, and 1 subject was unable to understand the task. These results indicate that finding the isomorphism for this example is within the capability of many college students. 344 HOLYOAK AND THAGARD Structure and Pragmatics in Metaphor To explore the performance of ACME in metaphorical mapping, the program was given predicate-calculus representations of the knowledge underlying a metaphor that has been analyzed in detail by Kittay (1987). The metaphor is derived from a passage in Plato’s Theuetetus in which Socrates declares himself to be a “midwife of ideas,” elaborating the metaphor at length. Table 19 contains predicate-calculus representations based upon Kittay’s analysis of the source analog r.?ncerning the role of a midwife and of the target analog concerning the role of a philosopher-teacher. Roughly, Socrates claims that he is like a midwife in that he introduces the student to intellectual partners, just as a midwife often serves first as a matchmaker; Socrates helps the student evaluate the truth or falsity of his ideas much as a midwife helps a mother to deliver a child. This metaphor was used to provide an illustration of the manner in which structural and pragmatic constraints interact in ACME. Table 19 presents predicate-calculus representations of two versions of the metaphor: an isomorphic version based directly upon Kittay’s analysis, and a nonisomorphic version created by adding irrelevant and misleading information to the representation of the “Socrates” target analog. The best mappings obtained for each object and predicate in the target, produced by three runs of ACME, are reported in Table 20. The asymptotic activations of the best mappings are also presented. A mapping of “none” means that no mapping unit had an asymptotic activation greater than .20. The run reported in the first column used the isomorphic version without any pragmatic weights. The network settles with a correct set of mappings after 34 cycles. Thus Socrates maps to the midwife, his student o the mother, the student’s intellectual partner to the father, and the idea to the child. (Note that there is a homomorphic mapping of the predicates thinks-about and tests-truth to in-labor-with.) The propositions expressing causal relations in the two analogs are not essential here; deletion of them still allows a complete mapping to be discovered. A very different set of mappings is reported in the middle column of Table 20 for the nonisomorphic version of the “Socrates” analog. This version provides additional knowledge about Socrates that would be expected to produce major interference with discovery of the metaphoric relation between the two analogs. The nonisomorphic version contains the information that Socrates drinks hemlock juice, which is of course irrelevant to the metaphor. Far worse, the representation encodes the information that Socrates him’self was matched to his wife by a midwife; and that Socrates’ wife had a child with the help of this midwife. Clearly, this nonisomorphic extension will cause the structural and semantic constraints on mapping to support a much more superficial set of correspondences between the two situations. And indeed, in this second run ACME finds only the barest fragments of the intended metaphoric mappings when the network settles ANALOGICAL MAPPING 345 TABLE 19 Predicate-Calculus Representatlans of Knowledge Underlying the Metaphor “Socrates is a Mldwlfe of Ideas”‘(lsamarphlc and Nanlsomorphlc Verslons)


Intelligent Buildings of the Future: Cyberaware, Deep Learning Powered, and Human Interacting

Intelligent buildings are quickly becoming cohesive and integral inhabitants of cyberphysical ecosystems. Modern buildings adapt to internal and external elements and thrive on ever-increasing data sources, such as ubiquitous smart devices and sensors, while mimicking various approaches previously known in software, hardware, and bioinspired systems. This article provides an overview of intelligent buildings of the future from a range of perspectives. It discusses everything from the prospects of U.S. and world energy consumption to insights into the future of intelligent buildings based on the latest technological advancements in U.S. industry and government.


A Robust, Simple Genotyping-by-Sequencing (GBS) Approach for High Diversity Species

Advances in next generation technologies have driven the costs of DNA sequencing down to the point that genotyping-by-sequencing (GBS) is now feasible for high diversity, large genome species. Here, we report a procedure for constructing GBS libraries based on reducing genome complexity with restriction enzymes (REs). This approach is simple, quick, extremely specific, highly reproducible, and may reach important regions of the genome that are inaccessible to sequence capture approaches. By using methylation-sensitive REs, repetitive regions of genomes can be avoided and lower copy regions targeted with two to three fold higher efficiency. This tremendously simplifies computationally challenging alignment problems in species with high levels of genetic diversity. The GBS procedure is demonstrated with maize (IBM) and barley (Oregon Wolfe Barley) recombinant inbred populations where roughly 200,000 and 25,000 sequence tags were mapped, respectively. An advantage in species like barley that lack a complete genome sequence is that a reference map need only be developed around the restriction sites, and this can be done in the process of sample genotyping. In such cases, the consensus of the read clusters across the sequence tagged sites becomes the reference. Alternatively, for kinship analyses in the absence of a reference genome, the sequence tags can simply be treated as dominant markers. Future application of GBS to breeding, conservation, and global species and population surveys may allow plant breeders to conduct genomic selection on a novel germplasm or species without first having to develop any prior molecular tools, or conservation biologists to determine population structure without prior knowledge of the genome or diversity in the species.


Classify or Select: Neural Architectures for Extractive Document Summarization

We present two novel and contrasting Recurrent Neural Network (RNN) based architectures for extractive summarization of documents. The Classifier based architecture sequentially accepts or rejects each sentence in the original document order for its membership in the final summary. The Selector architecture, on the other hand, is free to pick one sentence at a time in any arbitrary order to piece together the summary. Our models under both architectures jointly capture the notions of salience and redundancy of sentences. In addition, these models have the advantage of being very interpretable, since they allow visualization of their predictions broken up by abstract features such as information content, salience and redundancy. We show that our models reach or outperform state-of-the-art supervised models on two different corpora. We also recommend the conditions under which one architecture is superior to the other based on experimental evidence.


Domain Generalization with Adversarial Feature Learning

In this paper, we tackle the problem of domain generalization: how to learn a generalized feature representation for an "unseen" target domain by taking the advantage of multiple seen source-domain data. We present a novel framework based on adversarial autoencoders to learn a generalized latent feature representation across domains for domain generalization. To be specific, we extend adversarial autoencoders by imposing the Maximum Mean Discrepancy (MMD) measure to align the distributions among different domains, and matching the aligned distribution to an arbitrary prior distribution via adversarial feature learning. In this way, the learned feature representation is supposed to be universal to the seen source domains because of the MMD regularization, and is expected to generalize well on the target domain because of the introduction of the prior distribution. We proposed an algorithm to jointly train different components of our proposed framework. Extensive experiments on various vision tasks demonstrate that our proposed framework can learn better generalized features for the unseen target domain compared with state-of-the-art domain generalization methods.


A Pattern Learning Approach to Question Answering Within the Ephyra Framework

This paper describes the Ephyra question answering engine, a modular and extensible framework that allows to integrate multiple approaches to question answering in one system. Our framework can be adapted to languages other than English by replacing language-specific components. It supports the two major approaches to question answering, knowledge annotation and knowledge mining. Ephyra uses the web as a data resource, but could also work with smaller corpora. In addition, we propose a novel approach to question interpretation which abstracts from the original formulation of the question. Text patterns are used to interpret a question and to extract answers from text snippets. Our system automatically learns the patterns for answer extraction, using question-answer pairs as training data. Experimental results revealed the potential of this approach.


Towards time-optimal race car driving using nonlinear MPC in real-time

This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Control inputs for the vehicle are computed from a nonlinear model predictive control (MPC) scheme. The time-optimal objective is reformulated such that it can be tackled by existing efficient algorithms for real-time nonlinear MPC that build on the generalized Gauss-Newton method. We numerically validate our approach in simulations and present a real-world hardware setup of miniature race cars that is used for an experimental comparison of different approaches.


Focusing Attention: Towards Accurate Text Recognition in Natural Images

Scene text recognition has been a hot research topic in computer vision due to its various applications. The state of the art is the attention-based encoder-decoder framework that learns the mapping between input images and output sequences in a purely data-driven way. However, we observe that existing attention-based methods perform poorly on complicated and/or low-quality images. One major reason is that existing methods cannot get accurate alignments between feature areas and targets for such images. We call this phenomenon “attention drift”. To tackle this problem, in this paper we propose the FAN (the abbreviation of Focusing Attention Network) method that employs a focusing attention mechanism to automatically draw back the drifted attention. FAN consists of two major components: an attention network (AN) that is responsible for recognizing character targets as in the existing methods, and a focusing network (FN) that is responsible for adjusting attention by evaluating whether AN pays attention properly on the target areas in the images. Furthermore, different from the existing methods, we adopt a ResNet-based network to enrich deep representations of scene text images. Extensive experiments on various benchmarks, including the IIIT5k, SVT and ICDAR datasets, show that the FAN method substantially outperforms the existing methods.


FACTORS INFLUENCING CONSUMERS ’ ATTITUDE TOWARDS E-COMMERCE PURCHASES THROUGH ONLINE SHOPPING

Online shopping is the process of buying goods and services from merchants who sell on the internet. Shoppers can visit web stores from the comfort of their homes and shop as they sit in front of the computer. The main purpose of this study is to determine the factors influencing consumers’ attitude towards e-commerce purchases through online shopping. The study also investigate how socio-demographic (age, income and occupation), pattern of online buying (types of goods, e-commerce experience and hours use on internet) and purchase perception (product perception, customers’ service and consumers’ risk) affect consumers’ attitude towards online shopping. Convenience sampling method was conducted in this study and the sample comparison of 100 respondents in Taman Tawas Permai, Ipoh. Data were collected via self-administered questionnaire which contains 15 questions in Part A (respondents’ background and their pattern of using internet and online buying), 34 questions in Part B (attitude towards online purchase) and 36 questions in Part C (purchase perception towards online shopping). One-way ANOVA were used to assess the differences between independent variable such as age, income, occupation and pattern of online buying (type of goods) and dependant variable such as attitude towards online shopping. The findings revealed that there is no significant difference in attitude towards online shopping among age group (F = 1.020, p < 0.05) but there is a significant difference in attitude towards online shopping among income group (F = 0.556, p > 0.05). The research finding also showed that there is no significant difference in attitude towards online shopping among occupation group (F = 1.607, p < 0.05) and types of goods group (F = 1.384, p < 0.05). Pearson’s correlation were used to assess the relationship between independent variable such as e-commerce experience, hours spent on internet, product perception, customers’ service and consumers’ risk and dependant variable such as attitude towards online shopping. The findings revealed that there is a significant relationship between e-commerce experience and attitude towards online shopping among the respondents (r = -0.236**, p < 0.05). However, there is no significant relationship between hours spent on internet and attitude towards online shopping among the respondents (r = 0.106, p > 0.05). This study also indicated that there is a significant relationship between product perception and attitude towards online shopping among the respondents (r = 0.471**, p < 0.01) and there is also a significant relationship between customers’ service and attitude towards online shopping among the respondents (r = 0.459**, p < 0.01). Lastly, this result showed that there is no significant relationship between consumers’ risk and attitude towards online shopping among the respondents (r = 0.153, p > 0.05). Further study should explore other factors that influencing consumers’ attitude towards e-commerce purchases through online shopping with a broader range of population and high representative sampling method.


Risk-RRT∗: A robot motion planning algorithm for the human robot coexisting environment

In the human robot coexisting environment, to reach the goal efficiently and safely is very meaningful for the mobile service robot. In this paper, a Risk based Rapidly-exploring Random Tree for optimal motion planning (Risk-RRT∗) algorithm is proposed by combining the comfort and collision risk (CCR) map with the RRT∗ algorithm, which provides a variant of the RRT∗ algorithm in the dynamic human robot coexisting environment. In the experiments, the time cost in the navigation process and the length of the trajectory are utilized for the evaluation of the proposed algorithm. A comparison with the Risk-RRT algorithm is carried out and experimental results reveal that our proposed algorithm can achieve a better performance than that of the Risk-RRT in both static and dynamic environments.


Towards a sustainable e-Participation implementation model

A great majority of the existing frameworks are inadequate to address their universal applicability in countries with certain socio-economic and technological settings. Though there is so far no “one size fits all” strategy in implementing eGovernment, there are some essential common elements in the transformation. Therefore, this paper attempts to develop a singular sustainable model based on some theories and the lessons learned from existing e-Participation initiatives of developing and developed countries, so that the benefits of ICT can be maximized and greater participation be ensured.


circRNA biogenesis competes with pre-mRNA splicing.

Circular RNAs (circRNAs) are widely expressed noncoding RNAs. However, their biogenesis and possible functions are poorly understood. Here, by studying circRNAs that we identified in neuronal tissues, we provide evidence that animal circRNAs are generated cotranscriptionally and that their production rate is mainly determined by intronic sequences. We demonstrate that circularization and splicing compete against each other. These mechanisms are tissue specific and conserved in animals. Interestingly, we observed that the second exon of the splicing factor muscleblind (MBL/MBNL1) is circularized in flies and humans. This circRNA (circMbl) and its flanking introns contain conserved muscleblind binding sites, which are strongly and specifically bound by MBL. Modulation of MBL levels strongly affects circMbl biosynthesis, and this effect is dependent on the MBL binding sites. Together, our data suggest that circRNAs can function in gene regulation by competing with linear splicing. Furthermore, we identified muscleblind as a factor involved in circRNA biogenesis.


Modeling astrocyte-neuron interactions in a tripartite synapse

Glial cells (microglia, oligodendrocytes, and especially astrocytes) play a critical role in the central nervous system by affecting in various ways the neuronal single cell level interactions as well as connectivity and communication at the network level, both in the developing and mature brain. Numerous studies (see, e.g., [1-3]) indicate an important modulatory role of astrocytes in brain homeostasis but most specifically in neuronal metabolism, plasticity, and survival. Astrocytes are also known to play an important role in many neurological disorders and neurodegenerative diseases. It is therefore important in the light of recent evidence to assess how the astrocytes interact with neurons, both in situ and in silico. The integration of biological knowledge into computational models is becoming increasingly important to help understand the role of astrocytes both in health and disease. We have previously addressed the role of transmitters and amyloid-beta peptide on calcium signals in rat cortical astrocytes [4]. In this work, we extend the work by using a modified version of the previously developed model [5] for astrocyte-neuron interactions in a tripartite synapse to explore the effects of various preand postsynaptic as well as extrasynaptic mechanisms on neuronal activity. We consider extending the model to include various additional mechanisms, such as the role of IP3 receptor function, recycling of neurotransmitters, K+ buffering by the Na+/K+ pump, and retrograde signaling by endocannabinoids. The improved tripartite synapse model for astrocyte-neuron interactions will provide an essential modeling tool for facilitating studies of local network dynamics in the brain. The model may also serve as an important step toward understanding mechanisms behind induction and maintenance of plastic changes in the brain.


Semisupervised Autoencoder for Sentiment Analysis

In this paper, we investigate the usage of autoencoders in modeling textual data. Traditional autoencoders suffer from at least two aspects: scalability with the high dimensionality of vocabulary size and dealing with task-irrelevant words. We address this problem by introducing supervision via the loss function of autoencoders. In particular, we first train a linear classifier on the labeled data, then define a loss for the autoencoder with the weights learned from the linear classifier. To reduce the bias brought by one single classifier, we define a posterior probability distribution on the weights of the classifier, and derive the marginalized loss of the autoencoder with Laplace approximation. We show that our choice of loss function can be rationalized from the perspective of Bregman Divergence, which justifies the soundness of our model. We evaluate the effectiveness of our model on six sentiment analysis datasets, and show that our model significantly outperforms all the competing methods with respect to classification accuracy. We also show that our model is able to take advantage of unlabeled dataset and get improved performance. We further show that our model successfully learns highly discriminative feature maps, which explains its superior performance.


Rethinking Centrality: The Role of Dynamical Processes in Social Network Analysis

Many popular measures used in social network analysis, including centrality, are based on the random walk. The random walk is a model of a stochastic process where a node interacts with one other node at a time. However, the random walk may not be appropriate for modeling social phenomena, including epidemics and information diffusion, in which one node may interact with many others at the same time, for example, by broadcasting the virus or information to its neighbors. To produce meaningful results, social network analysis algorithms have to take into account the nature of interactions between the nodes. In this paper we classify dynamical processes as conservative and non-conservative and relate them to well-known measures of centrality used in network analysis: PageRank and Alpha-Centrality. We demonstrate, by ranking users in online social networks used for broadcasting information, that non-conservative Alpha-Centrality generally leads to a better agreement with an empirical ranking scheme than the conservative PageRank.


Power Optimization of Battery Charging System Using FPGA Based Neural Network Controller

This paper involves designing a small scale battery charging system which is powered via a photovoltaic panel. This work aims at the usage of solar energy for charging the battery and optimizing the power of the system. Implementation is done using Artificial Neural Network (ANN) on FPGA. To develop this system an Artificial Neural Network is trained and its result is further used for the PWM technique. PWM pulse generation has been done using Papilio board which is based on XILINX Spartan 3E FPGA. The ANN with PWM technique is ported on FPGA which is programmed using VHDL. This able to automatically control the whole charging system operation without requirement of external sensory unit. The simulation results are achieved by using MATLAB and XILINX. These results allowed demonstrating the charging of the battery using proposed ANN and PWM technique. KeywordsPhotovoltaic battery charger, PWM, ANN, FPGA


Foot orthoses for plantar heel pain: a systematic review and meta-analysis.

OBJECTIVE
To investigate the effectiveness of foot orthoses for pain and function in adults with plantar heel pain.

DESIGN
Systematic review and meta-analysis. The primary outcome was pain or function categorised by duration of follow-up as short (0 to 6 weeks), medium (7 to 12 weeks) or longer term (13 to 52 weeks).

DATA SOURCES
Medline, CINAHL, SPORTDiscus, Embase and the Cochrane Library from inception to June 2017.

ELIGIBILITY CRITERIA FOR SELECTING STUDIES
Studies must have used a randomised parallel-group design and evaluated foot orthoses for plantar heel pain. At least one outcome measure for pain or function must have been reported.

RESULTS
A total of 19 trials (1660 participants) were included. In the short term, there was very low-quality evidence that foot orthoses do not reduce pain or improve function. In the medium term, there was moderate-quality evidence that foot orthoses were more effective than sham foot orthoses at reducing pain (standardised mean difference -0.27 (-0.48 to -0.06)). There was no improvement in function in the medium term. In the longer term, there was very low-quality evidence that foot orthoses do not reduce pain or improve function. A comparison of customised and prefabricated foot orthoses showed no difference at any time point.

CONCLUSION
There is moderate-quality evidence that foot orthoses are effective at reducing pain in the medium term, however it is uncertain whether this is a clinically important change.


From wireless sensor networks towards cyber physical systems

In the past two decades, a lot of research activities have been dedicated to the fields of mobile ad hoc network (MANET) and wireless sensor networks (WSN). More recently, the cyber physical system (CPS) has emerged as a promising direction to enrich the interactions between physical and virtual worlds. In this article, we first review some research activities inWSN, including networking issues and coverage and deployment issues. Then,we review some CPS platforms and systems that have been developed recently, including health care, navigation, rescue, intelligent transportation, social networking, and gaming applications. Through these reviews, we hope to demonstrate how CPS applications exploit the physical information collected by WSNs to bridge real and cyber spaces and identify important research challenges related to CPS designs. © 2011 Elsevier B.V. All rights reserved.


The Improvisation Effect: A Case Study of User Improvisation and Its Effects on Information System Evolution

Few studies have examined interactions between IT change and organizational change during information systems evolution (ISE). We propose a dynamic model of ISE where change dynamics are captured in four dimensions: planned change, improvised change, organizational change and IT change. This inductively-generated model yields a rich account of ISE and its drivers by integrating the four change dimensions. The model shows how incremental adjustments in IT and organizational processes often grow into a profound change as users improvise. We demonstrate the value of the dynamic model by illustrating ISE processes in the context of two manufacturing organizations implementing the same system over a study period of five years. This paper makes its contribution by holistically characterizing improvisation in the context of IT and organizational change. Our ISE model moves research in organizational and IT change towards a common framing by showing how each affects the other’s form, function and evolution.


Survey on RGB, 3D, Thermal, and Multimodal Approaches for Facial Expression Recognition: History, Trends, and Affect-Related Applications

Facial expressions are an important way through which humans interact socially. Building a system capable of automatically recognizing facial expressions from images and video has been an intense field of study in recent years. Interpreting such expressions remains challenging and much research is needed about the way they relate to human affect. This paper presents a general overview of automatic RGB, 3D, thermal and multimodal facial expression analysis. We define a new taxonomy for the field, encompassing all steps from face detection to facial expression recognition, and describe and classify the state of the art methods accordingly. We also present the important datasets and the bench-marking of most influential methods. We conclude with a general discussion about trends, important questions and future lines of research.


Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model.


Knowledge-Based Reasoning in a Unified Feature Modeling Scheme

Feature-based modeling is an accepted approach to include high-level geometric information in product models as well as to facilitate a parameterized and constraint-based product development process. Moreover, features are suitable as an intermediate layer between a product’s knowledge model and its geometry model for effective and efficient information management. To achieve this, traditional feature technology must be extended to align with the approach of knowledge-based reasoning. In this paper, based on a previously proposed unified feature modeling scheme, feature definitions are extended to support knowledge-based reasoning. In addition, a communication mechanism between the knowledge-based system and the feature model is established. The methods to embed and use knowledge for information consistency control are described.


FOREX Rate prediction using Chaos and Quantile Regression Random Forest

This paper presents a hybrid of chaos modeling and Quantile Regression Random Forest (QRRF) for Foreign Exchange (FOREX) Rate prediction. The exchange rates data of US Dollar (USD) versus Japanese Yen (JPY), British Pound (GBP), and Euro (EUR) are used to test the efficacy of proposed model. Based on the experiments conducted, we conclude that the proposed model yielded accurate predictions compared to Chaos + Quantile Regression (QR), Chaos+Random Forest (RF) and that of Pradeepkumar and Ravi [12] in terms of both Mean Squared Error (MSE) and Mean Absolute Percentage Error (MAPE).


Non-parametric Model for Background Subtraction

Background subtraction is a method typically used to segment moving regions in image sequences taken from a static camera by comparing each new frame to a model of the scene background. We present a novel non-parametric background model and a background subtraction approach. The model can handle situations where the background of the scene is cluttered and not completely static but contains small motions such as tree branches and bushes. The model estimates the probability of observing pixel intensity values based on a sample of intensity values for each pixel. The model adapts quickly to changes in the scene which enables very sensitive detection of moving targets. We also show how the model can use color information to suppress detection of shadows. The implementation of the model runs in real-time for both gray level and color imagery. Evaluation shows that this approach achieves very sensitive detection with very low false alarm rates.


Image Difference Threshold Strategies and Shadow Detection

The paper considers two problems associated with the detection and classification of motion in image sequences obtained from a static camera. Motion is detected by differencing a reference and the "current" image frame, and therefore requires a suitable reference image and the selection of an appropriate detection threshold. Several threshold selection methods are investigated, and an algorithm based on hysteresis thresholding is shown to give acceptably good results over a number of test image sets. The second part of the paper examines the problem of detecting shadow regions within the image which are associated with the object motion. This is based on the notion of a shadow as a semi-transparent region in the image which retains a (reduced contrast) representation of the underlying surface pattern, texture or grey value. The method uses a region growing algorithm which uses a growing criterion based on a fixed attenuation of the photometric gain over the shadow region, in comparison to the reference image.


Pfinder: Real-Time Tracking of the Human Body

Pfinder is a real-time system for tracking people and interpreting their behavior. It runs at 10Hz on a standard SGI Indy computer, and has performed reliably on thousands of people in many different physical locations. The system uses a multiclass statistical model of color and shape to obtain a 2D representation of head and hands in a wide range of viewing conditions. Pfinder has been successfully used in a wide range of applications including wireless interfaces, video databases, and low-bandwidth coding. Index Terms —Blobs, blob tracking, real-time, person tracking, 3D person tracking, segmentation, gesture recognition, mixture model, MDL.


Adaptive Background Estimation and Foreground Detection using Kalman-Filtering

In image sequence processing kalman filtering is used for an adaptive background estimation, in order to separate the foreground from the background. The presented work is an approach which takes into account that changing illumination should be considered in the background estimation, and should not be detected as foreground. The new approach assumes a stationary CCD cameras with fixed focal length and considers non-rigid objects moving non-continuously like human bodies. Furthermore, statistic based methods are used to overcome the problems caused by shadow borders and the adaptation, when the background is covered by the foreground.


Artificial Diversity as Maneuvers in a Control Theoretic Moving Target Defense

Moving target cyber-defense systems encompass a wide variety of techniques in multiple areas of cyber-security. The dynamic system reconfiguration aspect of moving target cyber-defense can be used as a basis for providing an adaptive attack surface. The goal of this research is to develop novel control theoretic mechanisms by which a range of cyber maneuver techniques are provided such that when an attack is detected the environment can select the most appropriate maneuver to ensure a sufficient shift in the attack surface to render the identified attack ineffective. Effective design of this control theoretic cyber maneuver approach requires the development of two additional theories. First, algorithms are required for the estimation of security state. This will identify when a maneuver is required. Second, a theory for the estimation of the cost of performing a maneuver is required. This is critical for selecting the most cost-effective maneuver while ensuring that the attack is rendered fully ineffective. Finally, we present our moving target control loop as well as a detailed case study examining the impact of our proposed cyber maneuver paradigm on DHCP attacks.


GoSCAN: Decentralized scalable data clustering

Identifying clusters is an important aspect of analyzing large datasets. Clustering algorithms classically require access to the complete dataset. However, as huge amounts of data are increasingly originating from multiple, dispersed sources in distributed systems, alternative solutions are required. Furthermore, data and network dynamicity in a distributed setting demand adaptable clustering solutions that offer accurate clustering models at a reasonable pace. In this paper, we propose GoScan, a fully decentralized density-based clustering algorithm which is capable of clustering dynamic and distributed datasets without requiring central control or message flooding. We identify two major tasks: finding the core data points, and forming the actual clusters, which we execute in parallel employing gossip-based communication. This approach is very efficient, as it offers each peer enough authority to discover the clusters it is interested in. Our algorithm poses no extra burden of overlay formation in the network, while providing high levels of scalability. We also offer several optimizations to the basic clustering algorithm for improving communication overhead and processing costs. Coping with dynamic data is made possible by introducing an age factor, which gradually detects data-set changes and enables clustering updates. In our experimental evaluation, we will show that GoSCAN can discover the clusters efficiently with scalable transmission cost.


Analysis and comparison of MIMO radar waveforms

Choosing a proper waveform is a critical task for the implementation of multiple-input multiple-output (MIMO) radars. In addition to the general requirements for radar waveforms such as good resolution, low sidelobes, etc, MIMO radar waveforms also should possess good orthogonality. In this paper we give a brief overview of MIMO radar waveforms, which are classified into four categories: (1) time division multiple access (TDMA), (2) frequency division multiple access (FDMA), (3) Doppler division multiple access (DDMA), and (4) code division multiple access (CDMA). A special circulating MIMO waveform is also addressed The properties as well as application limitations of different waveforms are analyzed and compared. Some simulations results are also presented to illustrate the respective performance of different waveforms.


A MATLAB toolbox for Granger causal connectivity analysis

Assessing directed functional connectivity from time series data is a key challenge in neuroscience. One approach to this problem leverages a combination of Granger causality analysis and network theory. This article describes a freely available MATLAB toolbox--'Granger causal connectivity analysis' (GCCA)--which provides a core set of methods for performing this analysis on a variety of neuroscience data types including neuroelectric, neuromagnetic, functional MRI, and other neural signals. The toolbox includes core functions for Granger causality analysis of multivariate steady-state and event-related data, functions to preprocess data, assess statistical significance and validate results, and to compute and display network-level indices of causal connectivity including 'causal density' and 'causal flow'. The toolbox is deliberately small, enabling its easy assimilation into the repertoire of researchers. It is however readily extensible given proficiency with the MATLAB language.


Branch Prediction Strategies and Branch Target Buffer Design


Conceptual model of enterprise resource planning and business intelligence systems usage

Businesses have invested considerable resources in the usage of enterprise resource planning (ERP) and business intelligence (BI) systems. These systems were heavily studied in developed countries while there are a few and narrowly focused studies in developing ones. However, studies on the integration of ERP and BI have not been given enough attention (hereafter ERPBI). There are many challenges facing the ERPBI usage in term of the steadily increasing speed with which new technologies are evolving. In addition, there are a number of factors that affecting this usage. Based on the finding of the literature, a model from a critical success factors (CSFs) perspective that examine the relationship between ERPBI usage and organisational performance is proposed. The conceptual model provides a foundation for more research in the future. The expected results of the study will improve the business outcome and help design strategies based on an investigation between ERPBI usage and organisational performance.


Molding CNNs for text: non-linear, non-consecutive convolutions

The success of deep learning often derives from well-chosen operational building blocks. In this work, we revise the temporal convolution operation in CNNs to better adapt it to text processing. Instead of concatenating word representations, we appeal to tensor algebra and use low-rank n-gram tensors to directly exploit interactions between words already at the convolution stage. Moreover, we extend the n-gram convolution to non-consecutive words to recognize patterns with intervening words. Through a combination of lowrank tensors, and pattern weighting, we can efficiently evaluate the resulting convolution operation via dynamic programming. We test the resulting architecture on standard sentiment classification and news categorization tasks. Our model achieves state-of-the-art performance both in terms of accuracy and training speed. For instance, we obtain 51.2% accuracy on the fine-grained sentiment classification task.1


Scaling Reflection Prompts in Large Classrooms via Mobile Interfaces and Natural Language Processing

We present the iterative design, prototype, and evaluation of CourseMIRROR (Mobile In-situ Reflections and Review with Optimized Rubrics), an intelligent mobile learning system that uses natural language processing (NLP) techniques to enhance instructor-student interactions in large classrooms. CourseMIRROR enables streamlined and scaffolded reflection prompts by: 1) reminding and collecting students' in-situ written reflections after each lecture; 2) continuously monitoring the quality of a student's reflection at composition time and generating helpful feedback to scaffold reflection writing; and 3) summarizing the reflections and presenting the most significant ones to both instructors and students. Through a combination of a 60-participant lab study and eight semester-long deployments involving 317 students, we found that the reflection and feedback cycle enabled by CourseMIRROR is beneficial to both instructors and students. Furthermore, the reflection quality feedback feature can encourage students to compose more specific and higher-quality reflections, and the algorithms in CourseMIRROR are both robust to cold start and scalable to STEM courses in diverse topics.


Dynamic switching-based reliable flooding in low-duty-cycle wireless sensor networks

Reliable flooding in wireless sensor networks (WSNs) is desirable for a broad range of applications and network operations. However, it is a challenging problem to ensure 100% flooding coverage efficiently considering the combined effects of low-duty-cycle operation and unreliable wireless transmission. In this work, we propose a novel dynamic switching-based reliable flooding (DSRF) framework, which is designed as an enhancement layer to provide efficient and reliable flooding over a variety of existing flooding tree structures in low-duty-cycle WSNs. Through comprehensive simulations, we demonstrate that DSRF can effectively improve both flooding energy efficiency and latency.


Tactical driver behavior prediction and intent inference: A review

Drawing upon fundamental research in human behavior prediction, recently there has been a research focus on how to predict driver behaviors. In this paper we review the field of driver behavior and intent prediction, with a specific focus on tactical maneuvers, as opposed to operational or strategic maneuvers. The aim of a driver behavior prediction system is to forecast the trajectory of the vehicle prior in real-time, which could allow a Driver Assistance System to compensate for dangerous or uncomfortable circumstances. This review provides insights into the scope of the problem, as well as the inputs, algorithms, performance metrics, and shortcomings in the state-of-the-art systems.


Validity and reliability of the Cohen 10-item Perceived Stress Scale in patients with chronic headache: Persian version.

BACKGROUND
The Cohen Perceived Stress Scale is being used widely in various countries. The present study evaluated the validity and reliability of the Cohen 10-item Perceived Stress Scale (PSS-10) in assessing tension headache, migraine, and stress-related diseases in Iran.

METHODS
This study is a methodological and cross-sectional descriptive investigation of 100 patients with chronic headache admitted to the pain clinic of Baqiyatallah Educational and Therapeutic Center. Convenience sampling was used for subject selection. PSS psychometric properties were evaluated in two stages. First, the standard scale was translated. Then, the face validity, content, and construct of the translated version were determined.

RESULTS
The average age of participants was 38 years with a standard deviation (SD) of 13.2. As for stress levels, 12% were within the normal range, 36% had an intermediate level, and 52% had a high level of stress. The face validity and scale content were remarkable, and the KMO coefficient was 0.82. Bartlett's test yielded 0.327 which was statistically significant (p<0.0001) representing the quality of the sample. In factor analysis of the scale, the two elements of "coping" and "distress" were determined. A Cronbach's Alpha coefficient of 0.72 was obtained. This confirmed the remarkable internal consistency and stability of the scale through repeated measure tests (0.93).

CONCLUSION
The Persian PSS-10 has good internal consistency and reliability. The availability of a validated Persian PSS-10 would indicate a link between stress and chronic headache.


Comparison of Architectural Design Decisions for Resource-Constrained Self-Driving Cars - A Multiple Case-Study

Context: Self-Driving cars are getting more and more attention with public demonstration from all important automotive OEMs but also from companies, which do not have a long history in the automotive industry. Fostered by large international competitions in the last decade, several automotive OEMs have already announced to bring this technology to the market around 2020. Objective: International competitions like the 2007 DARPA Urban Challenge did not focus on efficient usage of resources to realize the self-driving vehicular functionality. Since the automotive industry is very cost-sensitive, realizing reliable and robust selfdriving functionality is challenging when expensive and sophisticated sensors mounted very visibly on the vehicle’s roof for example cannot be used. Therefore, the goal for this study is to investigate how architectural design decisions of recent self-driving vehicular technology consider resource-efficiency. Method: In a multiple case study, the architectural design decisions derived for resourceconstrained self-driving miniature cars for the international competition CaroloCup are compared with architectural designs from recent real-scale self-driving cars. Results: Scaling down available resources for realizing self-driving vehicular technology puts additional constraints on the architectural design; especially reusability of software components in platform-independent algorithmic concepts are prevailing. Conclusion: Software frameworks like the robotic operating system (ROS) enable fast prototypical solutions; however, architectural support for resource-constrained devices is limited. Here, architectural design drivers as realized in AUTOSAR are more suitable.


Constructive Induction of Cartesian Product Attributes

Constructive induction is the process of changing the representation of examples by creating new attributes from existing attributes. In classi cation, the goal of constructive induction is to nd a representation that facilitates learning a concept description by a particular learning system. Typically, the new attributes are Boolean or arithmetic combinations of existing attributes and the learning algorithms used are decision trees or rule learners. We describe the construction of new attributes that are the Cartesian product of existing attributes. We consider the e ects of this operator on a Bayesian classi er an a nearest neighbor algorithm.


Analyzing User Preference for Social Image Recommendation

With the incredibly growing amount of multimedia data shared on the social media platforms, recommender systems have become an important necessity to ease users’ burden on the information overload. In such a scenario, extensive amount of heterogeneous information such as tags, image content, in addition to the user-to-item preferences, is extremely valuable for making effective recommendations. In this paper, we explore a novel hybrid algorithm termed STM, for image recommendation. STM jointly considers the problem of image content analysis with the users’ preferences on the basis of sparse representation. STM is able to tackle the challenges of highly sparse user feedbacks and cold-start problmes in the social network scenario. In addition, our model is based on the classical probabilistic matrix factorization and can be easily extended to incorporate other useful information such as the social relationships. We evaluate our approach with a newly collected 0.3 million social image data set from Flickr. The experimental results demonstrate that sparse topic modeling of the image content leads to more effective recommendations, , with a significant performance gain over the state-of-the-art alternatives.


Novel microstrip patch antenna design employing flexible PVC substrate suitable for defence and radio-determination applications

This paper propounds a new flexible material, which has been designed by employing flexible Poly Vinyl Chloride (PVC) having dielectric constant εr= 2.7 as substrate. The projected antenna design states that a circular shaped copper patch with flag shaped slot on it has been deployed over the hexagonal PVC substrate of thickness 1 mm. Then ground plane is partially minimized and slotted to revamp the antenna performance. The proposed antenna operates within frequency range of 7.2032GHz to 7.9035GHz while resonating at 7.55GHz. The proposed antenna design has minimal return loss of −55.226dB with the impedance bandwidth of 700 MHz, gain of 4.379dB and directivity of 4.111dBi. The antenna has VSWR less than maximum acceptable value of 2. The projected antenna design can be suitably employed for UWB, radio-determination applications (7.235GHz to 7.25GHz), naval, defence systems (7.25GHz – 7.3GHz) and weather satellite applications (7.75GHz to 7.90GHz). The antenna has been designed in CST Microwave Studio 2014. The proposed antenna has been fabricated and tested using E5071C Network Analyser and anechoic chamber. It has been observed that the stimulated results closely match with the experimental results.


Multi-Type Itemset Embedding for Learning Behavior Success

Contextual behavior modeling uses data from multiple contexts to discover patterns for predictive analysis. However, existing behavior prediction models often face difficulties when scaling for massive datasets. In this work, we formulate a behavior as a set of context items of different types (such as decision makers, operators, goals and resources), consider an observable itemset as a behavior success, and propose a novel scalable method, "multi-type itemset embedding", to learn the context items' representations preserving the success structures. Unlike most of existing embedding methods that learn pair-wise proximity from connection between a behavior and one of its items, our method learns item embeddings collectively from interaction among all multi-type items of a behavior, based on which we develop a novel framework, LearnSuc, for (1) predicting the success rate of any set of items and (2) finding complementary items which maximize the probability of success when incorporated into an itemset. Extensive experiments demonstrate both effectiveness and efficency of the proposed framework.


Context augmented Dynamic Bayesian Networks for event recognition

This paper proposes a new Probabilistic Graphical Model (PGM) to incorporate the scene, event object interaction, and the event temporal contexts into Dynamic Bayesian Networks (DBNs) for event recognition in surveillance videos. We first construct the baseline event DBNs for modeling the events from their own appearance and kinematic observations, and then augment the DBN with contexts to improve its event recognition performance. Unlike the existing context methods, our model incorporates various contexts simultaneously into one unified model. Experiments on real scene surveillance datasets with complex backgrounds show that the contexts can effectively improve the event recognition performance even under great challenges like large intra-class variations and low image resolution. The topic of modeling and recognizing events in video surveillance system has attracted growing interest from both academia and industry (Oh et al., 2011). Various graphical, syntactic, and description-based approaches (Turaga et al., 2008) have been introduced for modeling and understanding events. Among those approaches, the time-sliced graphical models, i.e. Hidden Markov Models (HMMs) and Dynamic Bayesian Networks (DBNs), have become popular tools. However, surveillance video event recognition still faces difficulties even with the well-built models for describing the events. The first difficulty arises from the tremendous intra-class variations in events. The same category of events can have huge variations in their observations due to visual appearances differences, target motion variations, viewpoint change and temporal variability. Also, the low resolution of event targets also affects event recognition. To compensate for such challenges, we propose to capture various contextual knowledge and systematically integrate them with image data using a Probabilistic Graphical Model (PGM) (Koller and Friedman, 2009) to improve the performance of event recognition on challenging surveillance videos. Contextual knowledge can be regarded as one type of extra information that does not directly describe the recognition task, but it can support the task. As an additional information that can capture certain temporal, spatial or logical relationships with the recognition target, context plays an important role for various visual recognition tasks. Various contexts that are available/retriev-able both during training and testing are widely used in many approaches. For example, Yao and Fei-Fei (2010) and Yao and Fei-Fei (2012) propose a context model to make human pose estimation task and object detection task as mutual context to help each other. Also, Ding et al. (2012) use both the local features and the context cues in the neighborhood windows to construct a combined feature …


Learning from Labeled and Unlabeled Data with LabelPropagationXiaojin

We investigate the use of unlabeled data to help labeled data in cl ssification. We propose a simple iterative algorithm, label pro pagation, to propagate labels through the dataset along high density are as d fined by unlabeled data. We analyze the algorithm, show its solution , and its connection to several other algorithms. We also show how to lear n p ameters by minimum spanning tree heuristic and entropy minimiz ation, and the algorithm’s ability to perform feature selection. Expe riment results are promising.


Mobile App Tagging

Mobile app tagging aims to assign a list of keywords indicating core functionalities, main contents, key features or concepts of a mobile app. Mobile app tags can be potentially useful for app ecosystem stakeholders or other parties to improve app search, browsing, categorization, and advertising, etc. However, most mainstream app markets, e.g., Google Play, Apple App Store, etc., currently do not explicitly support such tags for apps. To address this problem, we propose a novel auto mobile app tagging framework for annotating a given mobile app automatically, which is based on a search-based annotation paradigm powered by machine learning techniques. Specifically, given a novel query app without tags, our proposed framework (i) first explores online kernel learning techniques to retrieve a set of top-N similar apps that are semantically most similar to the query app from a large app repository; and (ii) then mines the text data of both the query app and the top-N similar apps to discover the most relevant tags for annotating the query app. To evaluate the efficacy of our proposed framework, we conduct an extensive set of experiments on a large real-world dataset crawled from Google Play. The encouraging results demonstrate that our technique is effective and promising.


Robust Lane Detection and Tracking for Real-Time Applications

An effective lane-detection algorithm is a fundamental component of an advanced driver assistant system, as it provides important information that supports driving safety. The challenges faced by the lane detection and tracking algorithm include the lack of clarity of lane markings, poor visibility due to bad weather, illumination and light reflection, shadows, and dense road-based instructions. In this paper, a robust and real-time vision-based lane detection algorithm with an efficient region of interest is proposed to reduce the high noise level and the calculation time. The proposed algorithm also processes a gradient cue and a color cue together and a line clustering with scan-line tests to verify the characteristics of the lane markings. It removes any false lane markings and tracks the real lane markings using the accumulated statistical data. The experiment results show that the proposed algorithm gives accurate results and fulfills the real-time operation requirement on embedded systems with low computing power.


Space-time video completion

We present a method for space-time completion of large space-time "holes" in video sequences of complex dynamic scenes. The missing portions are filled-in by sampling spatio-temporal patches from the available parts of the video, while enforcing global spatio-temporal consistency between all patches in and around the hole. This is obtained by posing the task of video completion and synthesis as a global optimization problem with a well-defined objective function. The consistent completion of static scene parts simultaneously with dynamic behaviors leads to realistic looking video sequences. Space-time video completion is useful for a variety of tasks, including, but not limited to: (i) Sophisticated video removal (of undesired static or dynamic objects) by completing the appropriate static or dynamic background information, (ii) Correction of missing/corrupted video frames in old movies, and (iii) Synthesis of new video frames to add a visual story, modify it, or generate a new one. Some examples of these are shown in the paper.


Predictors of physical restraint use in Canadian intensive care units

INTRODUCTION
Physical restraint (PR) use in the intensive care unit (ICU) has been associated with higher rates of self-extubation and prolonged ICU length of stay. Our objectives were to describe patterns and predictors of PR use.

METHODS
We conducted a secondary analysis of a prospective observational study of analgosedation, antipsychotic, neuromuscular blocker, and PR practices in 51 Canadian ICUs. Data were collected prospectively for all mechanically ventilated adults admitted during a two-week period. We tested for patient, treatment, and hospital characteristics that were associated with PR use and number of days of use, using logistic and Poisson regression respectively.

RESULTS
PR was used on 374 out of 711 (53%) patients, for a mean number of 4.1 (standard deviation (SD) 4.0) days. Treatment characteristics associated with PR were higher daily benzodiazepine dose (odds ratio (OR) 1.05, 95% confidence interval (CI) 1.00 to 1.11), higher daily opioid dose (OR 1.04, 95% CI 1.01 to 1.06), antipsychotic drugs (OR 3.09, 95% CI 1.74 to 5.48), agitation (Sedation-Agitation Scale (SAS) >4) (OR 3.73, 95% CI 1.50 to 9.29), and sedation administration method (continuous and bolus versus bolus only) (OR 3.09, 95% CI 1.74 to 5.48). Hospital characteristics associated with PR indicated patients were less likely to be restrained in ICUs from university-affiliated hospitals (OR 0.32, 95% CI 0.17 to 0.61). Mainly treatment characteristics were associated with more days of PR, including: higher daily benzodiazepine dose (incidence rate ratio (IRR) 1.07, 95% CI 1.01 to 1.13), daily sedation interruption (IRR 3.44, 95% CI 1.48 to 8.10), antipsychotic drugs (IRR 15.67, 95% CI 6.62 to 37.12), SAS <3 (IRR 2.62, 95% CI 1.08 to 6.35), and any adverse event including accidental device removal (IRR 8.27, 95% CI 2.07 to 33.08). Patient characteristics (age, gender, Acute Physiology and Chronic Health Evaluation II score, admission category, prior substance abuse, prior psychotropic medication, pre-existing psychiatric condition or dementia) were not associated with PR use or number of days used.

CONCLUSIONS
PR was used in half of the patients in these 51 ICUs. Treatment characteristics predominantly predicted PR use, as opposed to patient or hospital/ICU characteristics. Use of sedative, analgesic, and antipsychotic drugs, agitation, heavy sedation, and occurrence of an adverse event predicted PR use or number of days used.


Reference scope identification for citances by classification with text similarity measures

This paper targets at the first step towards generating citation summaries - to identify the reference scope (i.e., cited text spans) for citances. We present a novel classification-based method that converts the task into binary classification which distinguishes cited and non-cited pairs of citances and reference sentences. The method models pairs of citances and reference sentences as feature vectors where citation-dependent and citation-independent features based on the semantic similarity between texts and the significance of texts are explored. Such vector representations are utilized to train a binary classifier. For a citance, once the set of reference sentences classified as the cited sentences are collected, a heuristic-based filtering strategy is applied to refine the output. The method is evaluated using the CL-SciSumm 2016 datasets and found to perform well with competitive results.


The Role of Context for Object Detection and Semantic Segmentation in the Wild

In this paper we study the role of context in existing state-of-the-art detection and segmentation approaches. Towards this goal, we label every pixel of PASCAL VOC 2010 detection challenge with a semantic category. We believe this data will provide plenty of challenges to the community, as it contains 520 additional classes for semantic segmentation and object detection. Our analysis shows that nearest neighbor based approaches perform poorly on semantic segmentation of contextual classes, showing the variability of PASCAL imagery. Furthermore, improvements of existing contextual models for detection is rather modest. In order to push forward the performance in this difficult scenario, we propose a novel deformable part-based model, which exploits both local context around each candidate detection as well as global context at the level of the scene. We show that this contextual reasoning significantly helps in detecting objects at all scales.


Microsoft COCO: Common Objects in Context

We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.


Areas of Attention for Image Captioning

We propose “Areas of Attention”, a novel attentionbased model for automatic image captioning. Our approach models the dependencies between image regions, caption words, and the state of an RNN language model, using three pairwise interactions. In contrast to previous attentionbased approaches that associate image regions only to the RNN state, our method allows a direct association between caption words and image regions. During training these associations are inferred from image-level captions, akin to weakly-supervised object detector training. These associations help to improve captioning by localizing the corresponding regions during testing. We also propose and compare different ways of generating attention areas: CNN activation grids, object proposals, and spatial transformers nets applied in a convolutional fashion. Spatial transformers give the best results. They allow for image specific attention areas, and can be trained jointly with the rest of the network. Our attention mechanism and spatial transformer attention areas together yield state-of-the-art results on the MSCOCO dataset.


Bleu: a Method for Automatic Evaluation of Machine Translation


Deep visual-semantic alignments for generating image descriptions


Multi objective outbound logistics network design for a manufacturing supply chain

Outbound logistics network (OLN) in the downstream supply chain of a firm plays a dominant role in the success or failure of that firm. This paper proposes the design of a hybrid and flexible OLN in multi objective context. The proposed distribution network for a manufacturing supply chain consists of a set of customer zones (CZs) at known locations with known demands being served by a set of potential manufacturing plants, a set of potential central distribution centers (CDCs), and a set of potential regional distribution centers (RDCs). Three variants of a single product classified based on nature of demand are supplied to CZs through three different distribution channels. The decision variables include number of plants, CDCs, RDCs, and quantities of each variant of product delivered to CZs through a designated distribution channel. The goal is to design the network with multiple objectives so as to minimize the total cost, maximize the unit fill rates, and maximize the resource utilization of the facilities in the network. The problem is formulated as a mixed integer linear programming problem and a multiobjective genetic algorithm (MOGA) called non-dominated sorting genetic algorithm—II (NSGA-II) is employed to solve the resulting NP-hard combinatorial optimization problem. Computational experiments conducted on randomly generated data sets are presented and analyzed showing the effectiveness of the solution algorithm for the proposed network. N. C. Hiremath · S. Sahu · M. K. Tiwari (B) Department of Industrial Engineering and Management, Indian Institute of Technology Kharagpur, Kharagpur, 721302 West Bengal, India e-mail: mkt09@hotmail.com N. C. Hiremath e-mail: nchiremath@gmail.com S. Sahu e-mail: sahus@mech.iitkgp.ernet.in


Formal Models for Computer Security

Efforts to build "secure" computer systems have now been underway for more than a decade. Many designs have been proposed, some prototypes have been constructed, and a few systems are approaching the production stage. A small number of systems are even operating in what the Department of Defense calls the "multilevel" mode some information contained m these computer systems may have a clasmfication higher than the clearance of some of the users of those systems. This paper revmws the need for formal security models, describes the structure and operation of military security controls, considers how automation has affected security problems, surveys models that have been proposed and applied to date, and suggests possible d~rectlons for future models


The Cerebellum, Sensitive Periods, and Autism

Cerebellar research has focused principally on adult motor function. However, the cerebellum also maintains abundant connections with nonmotor brain regions throughout postnatal life. Here we review evidence that the cerebellum may guide the maturation of remote nonmotor neural circuitry and influence cognitive development, with a focus on its relationship with autism. Specific cerebellar zones influence neocortical substrates for social interaction, and we propose that sensitive-period disruption of such internal brain communication can account for autism's key features.


Configuration Tool for ARINC 653 Operating Systems Eu

ARINC 653 Specification defines a standardized interface of real-time operating systems and an Application Executive (APEX) to develop the reliable applications for avionics based on Integrated Modular Avionics (IMA). The requirements of system platform based on ARINC 653 Standard are defined as configuration data and are integrated to the XML configuration file(s) in the real-time operating system. Unfortunately, existing configuration tools for integrating requirements do not provide checking the syntax errors of XML and verifying the integrity of input data for partitioning. This paper presents a configuration tool for ARINC 653 OS that consist of Wizard module which generates the basic configuration data for IMA based on XML Scheme of ARINC 653 Standard, XML and Partition Editor for the partitioning system of IMA, and Verification module which checks the integrity of input data and XML syntax with its visualization.


Energy and Performance Characterization of Mobile Heterogeneous Computing

A modern mobile application processor is a heterogeneous multi-core SoC which integrates CPU and application-specific accelerators such as GPU and DSP. It provides opportunity to accelerate other compute-intensive applications, yet mapping an algorithm to such a heterogeneous platform is not a straightforward task and has many design decisions to make. In this paper, we evaluate the performance and energy benefits of utilizing the integrated GPU and DSP cores to offload or share CPU's compute-intensive tasks. The evaluation is conducted on three representative mobile platforms, TI's OMAP3530, Qualcomn's Snapdragon S2, and Nvidia's Tegra2, using common computation tasks in mobile applications. We identify key factors that should be considered in energy-optimized mobile heterogeneous computing. Our evaluation results show that, by effectively utilizing all the computing cores concurrently, an average of 3.7X performance improvement can be achieved with the cost of 33% more power consumption, in comparison with the case of utilizing CPU only. This stands for 2.8X energy saving.


Scene Text Synthesis for Efficient and Effective Deep Network Training

A large amount of annotated training images is critical for training accurate and robust deep network models but the collection of a large amount of annotated training images is often time-consuming and costly. Image synthesis alleviates this constraint by generating annotated training images automatically by machines which has attracted increasing interest in the recent deep learning research. We develop an innovative image synthesis technique that composes annotated training images by realistically embedding foreground objects of interest (OOI) into background images. The proposed technique consists of two key components that in principle boost the usefulness of the synthesized images in deep network training. The first is context-aware semantic coherence which ensures that the OOI are placed around semantically coherent regions within the background image. The second is harmonious appearance adaptation which ensures that the embedded OOI are agreeable to the surrounding background from both geometry alignment and appearance realism. The proposed technique has been evaluated over two related but very different computer vision challenges, namely, scene text detection and scene text recognition. Experiments over a number of public datasets demonstrate the effectiveness of our proposed image synthesis technique the use of our synthesized images in deep network training is capable of achieving similar or even better scene text detection and scene text recognition performance as compared with using real images.


Angry Crowds: Detecting Violent Events in Videos


A Novel CPW Fed Multiband Circular Microstrip Patch Antenna for Wireless Applications

In this paper, a novel design of coplanar micro strip patch antenna is presented for ultra wideband (UWB) and smart grid applications. It is designed on a dielectric substrate and fed by a coplanar wave guide (CPW). Micro strip patch antenna consists of a circular patch with an elliptical shaped eye opening in the center to provide multiband operations. The antenna has wide bandwidth of 5 GHz between 10.8-15.8 GHz and 3 GHz between 5.8-8.8 GHz, high return loss of -34 dB at 3.9 GHz and -29 dB at 6.8 GHz with satisfactory radiation properties. The parameters that affect the performance of the antenna in terms of its frequency domain characteristics are investigated. The antenna design has been simulated on Ansoft's High Frequency Structure Simulator (HFSS). It is a compact design of 47 × 47 mm2 area on Rogers RO3003 (tm) substrate with dielectric constant of 3 and thickness of 1.6 mm. The simulated antenna has three operating frequency bands at 2.82, 5.82-8.8, 10.8-15.8 GHz and shows the band-notch characteristic in the UWB band to avoid interferences, which is caused by WLAN at 5.15-5.825 GHz and Wi-MAX at 5.25-5.85 GHz. The designed antenna structure with 5.68 dBi gain is planar, simple and compact, hence it can be easily embedded in wireless communication systems and integrated with microwave circuitry for low manufacturing cost.


Majority is not enough: bitcoin mining is vulnerable

The Bitcoin cryptocurrency records its transactions in a public log called the blockchain. Its security rests critically on the distributed protocol that maintains the blockchain, run by participants called miners. Conventional wisdom asserts that the mining protocol is incentive-compatible and secure against colluding minority groups, that is, it incentivizes miners to follow the protocol as prescribed.
 We show that the Bitcoin mining protocol is not incentive-compatible. We present an attack with which colluding miners' revenue is larger than their fair share. The attack can have significant consequences for Bitcoin: Rational miners will prefer to join the attackers, and the colluding group will increase in size until it becomes a majority. At this point, the Bitcoin system ceases to be a decentralized currency.
 Unless certain assumptions are made, selfish mining may be feasible for any coalition size of colluding miners. We propose a practical modification to the Bitcoin protocol that protects Bitcoin in the general case. It prohibits selfish mining by a coalition that command less than 1/4 of the resources. This threshold is lower than the wrongly assumed 1/2 bound, but better than the current reality where a coalition of any size can compromise the system.


Containers and Virtual Machines at Scale: A Comparative Study

Virtualization is used in data center and cloud environments to decouple applications from the hardware they run on. Hardware virtualization and operating system level virtualization are two prominent technologies that enable this. Containers, which use OS virtualization, have recently surged in interest and deployment. In this paper, we study the differences between the two virtualization technologies. We compare containers and virtual machines in large data center environments along the dimensions of performance, manageability and software development.
 We evaluate the performance differences caused by the different virtualization technologies in data center environments where multiple applications are running on the same servers (multi-tenancy). Our results show that co-located applications can cause performance interference, and the degree of interference is higher in the case of containers for certain types of workloads. We also evaluate differences in the management frameworks which control deployment and orchestration of containers and VMs. We show how the different capabilities exposed by the two virtualization technologies can affect the management and development of applications. Lastly, we evaluate novel approaches which combine hardware and OS virtualization.


Path Planning and Steering Control for an Automatic Perpendicular Parking Assist System

This paper considers the perpendicular reverse parking problem of front wheel steering vehicles. Relationships between the widths of the parking aisle and the parking place, as well as the parameters and initial position of the vehicle for planning a collision-free reverse perpendicular parking in one maneuver are first presented. Two types of steering controllers (bang-bang and saturated tanh-type controllers) for straightline tracking are proposed and evaluated. It is demonstrated that the saturated controller, which is continuous, achieves also quick steering avoiding chattering and can be successfully used in solving parking problems. Simulation results and first experimental tests confirm the effectiveness of the proposed control scheme.