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Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments

Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments

Cipriano Galindo; Juan-Antonio Fernández-Madrigal; Javier Gonzalez

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2010
nidottu
This book focuses on the performance of mobile robots through the use of multi-hierarchical symbolic representations of the environment. To perform deliberative actions, a robot must possess some symbolic representation of its workspace, but representations of real environments can become so large that they must be conveniently arranged to facilitate and, in some cases, make possible their use. Practical solutions tested on real robots, for example a robotic wheelchair, are provided.
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Multiple Stars across the H-R Diagram

Multiple Stars across the H-R Diagram

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2010
nidottu
The ESO workshop “Multiple Stars across the H-R Diagram” was held in Garching on 12–15, July 2005. The topics included observations of multiple stars from ground and space, dynamical and stellar evolution in multiple systems, e?ects of the environment on multiplicity, formation and early e- lution of multiple stars, and special components of multiple stars (chemically peculiar stars, blue stragglers, brown dwarfs, etc.). Stars show a marked tendency to be in systems of di?erent multiplicity, 7 ranging from simple binaries and triples to globular clusters with N?10 . Modern observations give a frequency of binary and multiple stars in the Galactic ?eld of up to 70%, and between 5% and 20% of these systems are at least triple. There is evidence that the degree of multiplicity increases with primary mass. Many known multiple systems are too wide to have s- ni?cant physical interaction between their components. However, tidal and N-body dynamical interactions are important even in relatively wide s- tems and probably lead to the shrinkage of inner orbits. This sets the stage for spectacular evolutionary processes such as Roche-lobe over?ow, me- ers, supernovae, formation of special components, etc. Only recently did we realize that some of these processes require at least three stars. Theformationofmultiplesystemsremainsadi?cultandchallengingpart of astrophysics, although it has been addressed at the Workshop only brie?y.
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Multiple Classifier Systems

Multiple Classifier Systems

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2010
nidottu
These proceedings are a record of the Multiple Classi?er Systems Workshop, MCS 2010, held at the Nile University, Egypt in April 2010. Being the ninth in a well-established series of meetings providing an international forum for d- cussion of issues in multiple classi?er system design, the workshop achieved its objective of bringing together researchers from diverse communities (neural n- works, pattern recognition, machine learning and statistics) concerned with this researchtopic.Frommorethan50submissions,theProgramCommitteeselected 31 papers to create an interesting scienti?c program.Paperswere organizedinto sessionsdealingwithclassi?ercombinationandclassi?erselection,diversity,b- ging and boosting, combination of multiple kernels, and applications. The wo- shopprogramandthisvolumewereenrichedbytwoinvitedtalksgivenbyGavin Brown(University of Manchester,UK), and Friedhelm Schwenker(University of Ulm, Germany). As usual, the workshop would not have been possible without the help of many individuals and organizations. First of all, our thanks go to the members of the MCS 2010 Program Committee, whose expertise and dedication helped us create an interesting event that marks the progressmade in this ?eld overthe last year and aspire to chart its future research. The help of James Field from the University of Surrey, who administered the submitted paper reviews, and of Giorgio Fumera who managed the MCS website deserve a particular mention. Special thanks are due to the members of the Nile University Organizing C- mittee,AhmedSalah,AmiraElBaroudy,EsraaAly,HebaEzzat,NesrineSameh, Rana Salah and Mohamed Zahhar for their indispensable contributions to the registration management, local organization, and proceedings preparation.
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Multiple Access Communications

Multiple Access Communications

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2010
nidottu
It is our great pleasure to present the proceedings of the Third International Workshop on Multiple Access Communications (MACOM) that was held in Barcelona during September 13–14, 2010. In 1961, Claude Shannon established the foundation for the discipline now known as “multi-user information theory” in his pioneering paper “Two-way Communication Channels,” and later Norman Abramson published his paper “The Aloha System—Another Alternative for Computer Communications” in 1970 which introduced the concept of multiple access using a shared common channel. Thereafter, for more than 40 years of study, numerous elegant theories and algorithms have been developed for multiple-access communications. During the 1980s and 1990s the evolution of multiple-access techniques p- ceeded in conjunction with the evolution of wireless networks. Novel multiple access techniques like code division multiple access (CDMA) and orthogonal frequency division multiple access (OFDMA) provided increased spectral - ?ciency, dynamicity and ?exibility in radio resource allocation with intrinsic anti-multipath and anti-interference features. In this ?rst decade of the 21st century,multiple-accesstechniques,derivedfromadvancedwirelesstransmission methodologiesbasedonthediversityconcept(e. g. ,MC-CDMA,MIMO-OFDMA and SC-FDMA), opened the road to a renewed idea of multiple access. Today multiple-access communications involve many challenging aspects not only l- ited (like in the past) to physical layer design. Medium access control (MAC) techniques play a crucial role in managing the radio resources that users will exploit to transmit their data streams. Recent developments in software radios and cognitive radios have led to a signi?cant impact also on spectrum m- agement andaccess paradigms.
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Multiple Sklerose verstehen und behandeln

Multiple Sklerose verstehen und behandeln

Regula Steinlin Egli

Springer-Verlag Berlin and Heidelberg GmbH Co. KG
2011
sidottu
Praxisnah und Schritt für Schritt: MS-Patienten therapeutisch begleiten lernen Im Praxisbuch werden medizinische Hintergrundinformationen und Forschungsergebnisse (u.a. Pathogenese, Klinik, Therapieoptionen) verknüpft mit Einführungen in die verschiedenen physiotherapeutischen Interventionsmöglichkeiten (Bewegungs-, Trainingstherapie, Sport, Hippotherapie, Wassertherapie, Urogenitale Therapie, Atemtherapie, Hilfsmittel, interdisziplinäre Schnittstellen) undeiner ausführlichen Darstellung der modernen MS-spezifischen Untersuchungsverfahren, die sich am FBL-Analysenkonzept nach Klein-Vogelbach orientieren. Wie dabei jeder Untersuchungsschritt kontinuierlichen „Clinical reasoning“-Überlegungen und -Schlussfolgerungen folgt, wird hier anschaulich gezeigt.In fünf konkreten Fallbeispielen mit charakteristischen Patientensituationen werden Therapieverläufe jeweils mit Anamnese, Untersuchung und Clinical Reasoning-Schritten, Formulierung des Patientenproblems und der Therapieziele, Behandlungs- und Übungsvorschlägen zu den einzelnen Therapiezielen sehr praxisnah und direkt nachvollziehbar demonstriert.Alle Kapitel sind mit Farbzeichnungen und Farbfotos reich bebildert; u.a. sind die Fallbeispiele mit detaillierten Fotosequenzen (bis zu 30 Fotos pro Fall) auch optisch sehr konkret veranschaulicht.
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Multiple Classifier Systems

Multiple Classifier Systems

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
This book constitutes the refereed proceedings of the 10th International Workshop on Multiple Classifier Systems, MCS 2011, held in Naples, Italy, in June 2011. The 36 revised papers presented together with two invited papers were carefully reviewed and selected from more than 50 submissions. The contributions are organized into sessions dealing with classifier ensembles; trees and forests; one-class classifiers; multiple kernels; classifier selection; sequential combination; ECOC; diversity; clustering; biometrics; and computer security.
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Multiple Sklerose

Multiple Sklerose

Springer-Verlag Berlin and Heidelberg GmbH Co. KG
2026
sidottu
?Das Buch behandelt die Frage, wie Neurologen und Allgemeinmediziner der heterogenen und oftmals komplexen klinischen Symptomatik der Multiplen Sklerose begegnen können und beschäftigt sich mit dem Management des wechselnden klinischen Krankheitsverlaufs, der individuell schwer vorhersehbar ist. Es dient zum einen als Wegweiser durch die aktuellen Behandlungsmöglichkeiten, denn in der Praxis kann die individualisierte Therapie mit dem gezielten Einsatz der verschiedenen Immuntherapeutika für die Behandelnden sehr herausfordernd sein. So ist im Buch sowohl der Immuntherapie als auch der symptomatischen Therapie viel Raum gegeben. Ein weiterer Schwerpunkt liegt in der Patientenführung - mit konkreten Hinweisen für das Gespräch mit Betroffenen u.a. zu den Themen psychosoziale Situation, Beruf, Familie, Sexualität, Schwangerschaft, Impfungen, Ernährung, sportliche Aktivität, Mobilität, Führerschein und Reisen.
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Multiple Access Communications

Multiple Access Communications

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
This book constitutes the refereed proceedings of the 4th International Workshop on Multiple Access Communications, MACOM 2011, held in Trento, Italy, in September 2011. The 21 full papers presented were carefully reviewed and selected from more than 40 submissions. They are divided in topical sections on cognitive radio; MAC protocols; communications theory; special session on MAC protocols for WSNs; system analysis and scheduling; and queuing systems.
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Multiple Myeloma

Multiple Myeloma

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2013
nidottu
Multiple myeloma is currently still an incurable disease, but during the past decade knowledge of its molecular pathogenesis has increased rapidly. This has led to remarkable progress in both diagnosis and therapy, including in particular the approval of novel and first-in-class drugs such as thalidomide, bortezomib, and lenalidomide. This book, written by internationally acknowledged experts, covers a wide range of topics relating to multiple myeloma, including history, epidemiology, pathophysiology, clinical features, staging, and prognostic systems. The principal focus, however, is on therapy, with detailed information on the various promising treatment options which give hope that this cancer will be transformed into a chronic disease or even become curable. Individualized therapy and the variety of supportive treatment options, as described in this volume, will help in achieving this goal, as well as in reducing adverse events and improving quality of life.
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Multiple Fuzzy Classification Systems

Multiple Fuzzy Classification Systems

Rafal Scherer

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2012
sidottu
Fuzzy classi?ers are important tools in exploratory data analysis, which is a vital set of methods used in various engineering, scienti?c and business applications. Fuzzy classi?ers use fuzzy rules and do not require assumptions common to statistical classi?cation. Rough set theory is useful when data sets are incomplete. It de?nes a formal approximation of crisp sets by providing the lower and the upper approximation of the original set. Systems based on rough sets have natural ability to work on such data and incomplete vectors do not have to be preprocessed before classi?cation. To achieve better performance than existing machine learning systems, fuzzy classifiers and rough sets can be combined in ensembles. Such ensembles consist of a ?nite set of learning models, usually weak learners. The present book discusses the three aforementioned ?elds – fuzzy systems, rough sets and ensemble techniques. As the trained ensemble should represent a single hypothesis, a lot of attention is placed on the possibility to combine fuzzy rules from fuzzy systems being members of classi?cation ensemble. Furthermore, an emphasis is placed on ensembles that can work on incomplete data, thanks to rough set theory. .
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Multiple Access Communications

Multiple Access Communications

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2012
nidottu
This book constitutes the refereed proceedings of the 5th International Workshop on Multiple Access Communications, MACOM 2012, held in Maynooth, Ireland, in November 2012. The 13 full papers and 5 demo and poster papers presented were carefully reviewed and selected from various submissions. The papers are organized in topical sections on network coding, handling interference and localization techniques at PHY/MAC layers, wireless access networks, and medium access control.
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Multiple Classifier Systems

Multiple Classifier Systems

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2013
nidottu
This book constitutes the refereed proceedings of the 11th International Workshop on Multiple Classifier Systems, MCS 2013, held in Nanjing, China, in May 2013. The 34 revised papers presented together with two invited papers were carefully reviewed and selected from 59 submissions. The papers address issues in multiple classifier systems and ensemble methods, including pattern recognition, machine learning, neural network, data mining and statistics.
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Multiple Impacts in Dissipative Granular Chains

Multiple Impacts in Dissipative Granular Chains

Ngoc Son Nguyen; Bernard Brogliato

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2013
sidottu
The extension of collision models for single impacts between two bodies, to the case of multiple impacts (which take place when several collisions occur at the same time in a multibody system) is a challenge in Solid Mechanics, due to the complexity of such phenomena, even in the frictionless case. This monograph aims at presenting the main multiple collision rules proposed in the literature. Such collisions typically occur in granular materials, the simplest of which are made of chains of aligned balls. These chains are used throughout the book to analyze various multiple impact rules which extend the classical Newton (kinematic restitution), Poisson (kinetic restitution) and Darboux-Keller (energetic or kinetic restitution) approaches for impact modelling. The shock dynamics in various types of chains of aligned balls (monodisperse, tapered, decorated, stepped chains) is carefully studied and shown to depend on several parameters: restitution coefficients, contact stiffness ratios, elasticity coefficients (linear or nonlinear force/ indentation relation), and kinetic angles (that depend on the mass ratios). The dissipation and the dispersion of kinetic energy during a multiple impact are mandatory modelling, and are quantified with suitable indices. Particular attention is paid to the ability of the presented laws to correctly predict the wave effects in the chains. Comparisons between many numerical and experimental results are shown, as well as comparisons between four different impact laws in terms of their respective abilities to correctly model dissipation and dispersion of energy.
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Multiple Fuzzy Classification Systems

Multiple Fuzzy Classification Systems

Rafal Scherer

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2014
nidottu
Fuzzy classi?ers are important tools in exploratory data analysis, which is a vital set of methods used in various engineering, scienti?c and business applications. Fuzzy classi?ers use fuzzy rules and do not require assumptions common to statistical classi?cation. Rough set theory is useful when data sets are incomplete. It de?nes a formal approximation of crisp sets by providing the lower and the upper approximation of the original set. Systems based on rough sets have natural ability to work on such data and incomplete vectors do not have to be preprocessed before classi?cation. To achieve better performance than existing machine learning systems, fuzzy classifiers and rough sets can be combined in ensembles. Such ensembles consist of a ?nite set of learning models, usually weak learners. The present book discusses the three aforementioned ?elds – fuzzy systems, rough sets and ensemble techniques. As the trained ensemble should represent a single hypothesis, a lot of attention is placed on the possibility to combine fuzzy rules from fuzzy systems being members of classi?cation ensemble. Furthermore, an emphasis is placed on ensembles that can work on incomplete data, thanks to rough set theory. .
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Multiple Impacts in Dissipative Granular Chains

Multiple Impacts in Dissipative Granular Chains

Ngoc Son Nguyen; Bernard Brogliato

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2015
nidottu
The extension of collision models for single impacts between two bodies, to the case of multiple impacts (which take place when several collisions occur at the same time in a multibody system) is a challenge in Solid Mechanics, due to the complexity of such phenomena, even in the frictionless case. This monograph aims at presenting the main multiple collision rules proposed in the literature. Such collisions typically occur in granular materials, the simplest of which are made of chains of aligned balls. These chains are used throughout the book to analyze various multiple impact rules which extend the classical Newton (kinematic restitution), Poisson (kinetic restitution) and Darboux-Keller (energetic or kinetic restitution) approaches for impact modelling. The shock dynamics in various types of chains of aligned balls (monodisperse, tapered, decorated, stepped chains) is carefully studied and shown to depend on several parameters: restitution coefficients, contact stiffness ratios, elasticity coefficients (linear or nonlinear force/ indentation relation), and kinetic angles (that depend on the mass ratios). The dissipation and the dispersion of kinetic energy during a multiple impact are mandatory modelling, and are quantified with suitable indices. Particular attention is paid to the ability of the presented laws to correctly predict the wave effects in the chains. Comparisons between many numerical and experimental results are shown, as well as comparisons between four different impact laws in terms of their respective abilities to correctly model dissipation and dispersion of energy.
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Multiple Heterogeneous Unmanned Aerial Vehicles

Multiple Heterogeneous Unmanned Aerial Vehicles

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2014
nidottu
Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a quite complete overview of issues related to aerial robotics, addressing problems ranging from flight control to terrain perception and mission planning and execution. The major challenges and potentials of heterogeneous UAVs are comprehensively explored. It builds on the results of the European project COMETS, and highlights a number of key research topics in the area of UAV development, including communication, perception, teleoperation and decision making. The monograph emphasizes the current state of technology, the existing problems and potentialities of systems consisting of multiple UAVs which are heterogeneous in view of the different characteristics of the aerial vehicles, the different on-board payloads, and the different on-board information processing capabilities. The book also examines potential applications of UAVs and details a relevant application case: forest fire detection and monitoring.
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Multiple Criteria Decision Methods and Applications

Multiple Criteria Decision Methods and Applications

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
Both the 'First International Summer School on Multiple Criteria Decision Making Methods, Applications and Software' and the present volume of readings could only be realised with assistance and support from many sides. We would like to express our gratitude to all those who have contributed to making a success of the first of a hopefully long series of summer schools in this field and to all those who have contribut. ed to the present volume. First of all we are grateful for the financial means supplied by a long list of sponsors, the most important of which are mentioned on the copyright page. Next, we are grateful to the members of the organising committee, Anna Ostanello and Giovanni Zambruno. Since this is the first of what will become a series of summer schools, the chairman of the organising committee, Benedetto Matarazzo, will start this volume with a brief account of the school held in Acireale. The programme committee consisted of Jean Fichefet, Anna Ostanello, Bernard Roy, Jaap Spronk (chairman) and Stanley Zionts. Their valuable contribu­ tion is gratefully acknowledged, as is the contribution of all the lecturers at the school. Of course, a school is not only made by its teachers, but just as much by its students. The primary aim of a school is to teach and to stimulate the students.
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Multiple Criteria Decision Making and Risk Analysis Using Microcomputers

Multiple Criteria Decision Making and Risk Analysis Using Microcomputers

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
Roughly nine years ago, the two editors met for the first time in Amsterdam, the Netherlands at the EURO III meeting (organized by the Association of European Operational Research Societies) there. As a result of our initial meeting, the two of us planned and carried out a number of activities in the multiple criteria decision making area, much of it supported by the North Atlantic Treaty Organization (NATO). The latest of these activities was a NATO Advanced Study Institute (ASI) on multiple criteria. decision making and risk analysis using microcomputers. The institute was held in Tarabya, Istanbul, TURKEY, on June 28 - July 8, 1987. We received over 100 applications from professors (and a few graduate students) in 13 countries. Roughly half of them were able to participate. The ASI was a great success! Substantial knowledge transfer and learning took place. In addition to the planned presentations, we had several panels and round table discussions. Though we had planned these in advance, we implemented them to fit the occasion, and also organized a few special sessions on site to respond to participants' interests.
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Multiple Primary Malignant Neoplasms

Multiple Primary Malignant Neoplasms

Bruce S. Schoenberg

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
When asked why he robbed banks, an astute and success­ ful criminal is said to have replied "Because that's where the money is kept." Why study patients with multiple primary cancers? The answer follows the same practical approach. Because the intensive investigation of such patients is very likely to yield data useful to both the clinical and research on­ cologist. Studies of this problem provide an immediate return for the clinician responsible for the care of cancer patients. With improved forms of therapy, these individuals are enjoying longer periods of survival. One important factor in maintaining increased survival is the early detection and treatment of new primary tumors which may develop. Analyses of multiple primary malignancies serve as a guide to the probable anatomic location of a subsequent primary and help define characteristics of the individual at high risk for multiple primary cancer. But just as treatment may improve the life of the cancer patient, it may also increase the risk of a subsequent malignancy. Studies of multiple primaries provide an efficient means for quantifying potentially harmful effects of current therapeutic modalities.
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Multiple Diffraction of X-Rays in Crystals

Multiple Diffraction of X-Rays in Crystals

Shih-Lin In-Hang

Springer-Verlag Berlin and Heidelberg GmbH Co. K
2011
nidottu
The three-dimensional arrangement of atoms and molecules in crystals and the comparable magnitude of x-ray wavelengths and interatomic distances make it possible for crystals to have more than one set of atomic planes that satisfy Bragg's law and simultaneously diffract an incident x-ray beam - this is the so-called multiple diffraction. This type of diffraction should, in prin­ ciple, reflect three-dimensional information about the structure of the dif­ fracting material. Recent progress in understanding this diffraction phenome­ non and in utilizing this diffraction technique in solid-state and materials sciences reveals the diversity as well as the importance of multiple diffraction of x-rays in application. Unfortunately, there has been no single book written that gives a sys­ tematic review of this type of diffraction, encompasses its diverse applica­ tions, and foresees future trends gf development. It is for this purpose that this book is designed. It is hoped that its appearance may possibly turn more attention of condensed-matter physicists, chemists and material scientists toward this particular phenomenon, and that new methods of non-destructive analysis of matter using this diffraction technique may be developed in the future.
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