OpenRaiser/Intern-Atlas huggingface dataset:
Towards autonomous ocean observing systems using Miniature Underwater Gliders with UAV deployment and recovery capabilities
Venue: arXiv cs.RO 2019
Year: 2019

This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs) for deployment, recovery, battery charging, and communication relay. The system reduces human intervention to the minimum, revolutionizing the affordability of a broad range of surveillance and data collection operations. The MUGs are equipped with a small Variable Buoyancy System (VBS) composed of a gas filled piston and a linear actuator powered by brushless DC motor and a rechargable lithium ion battery in an oil filled flexible enclosure. By using a fully pressure tolerant electronic design the aim is to reduce the total complexity, weight, and cost of the overall system. A first prototype of the VBS was built and demonstrated in a small aquarium. The electronic components were tested in a pressure testing facility to a minimum of 20bar. Preliminary results are promising and future work will focus on system and weight optimization, UAV deployment/recovery strategies, as well as sea trials to an operating depth of 200m.
BINet: Multi-perspective Business Process Anomaly Classification
Venue: arXiv cs.AI 2019
Year: 2019

In this paper, we introduce BINet, a neural network architecture for real-time multi-perspective anomaly detection in business process event logs. BINet is designed to handle both the control flow and the data perspective of a business process. Additionally, we propose a set of heuristics for setting the threshold of an anomaly detection algorithm automatically. We demonstrate that BINet can be used to detect anomalies in event logs not only on a case level but also on event attribute level. Finally, we demonstrate that a simple set of rules can be used to utilize the output of BINet for anomaly classification. We compare BINet to eight other state-of-the-art anomaly detection algorithms and evaluate their performance on an elaborate data corpus of 29 synthetic and 15 real-life event logs. BINet outperforms all other methods both on the synthetic as well as on the real-life datasets.
Iterative Clustering for Energy-Efficient Large-Scale Tracking Systems
Venue: arXiv cs.DC 2019
Year: 2019

A new technique is presented to design energy-efficient large-scale tracking systems based on mobile clustering. The new technique optimizes the formation of mobile clusters to minimize energy consumption in large-scale tracking systems. This technique can be used in large public gatherings with high crowd density and continuous mobility. Utilizing both Bluetooth and Wi-Fi technologies in smart phones, the technique tracks the movement of individuals in a large crowd within a specific area, and monitors their current locations and health conditions. The new system has several advantages, including good positioning accuracy, low energy consumption, short transmission delay, and low signal interference. Two types of interference are reduced: between Bluetooth and Wi-Fi signals, and between different Bluetooth signals. An integer linear programming model is developed to optimize the construction of clusters. In addition, a simulation model is constructed and used to test the new technique under different conditions. The proposed clustering technique shows superior performance according to several evaluation criteria.
Partner Selection for the Emergence of Cooperation in Multi-Agent Systems Using Reinforcement Learning
Venue: arXiv cs.MA 2019
Year: 2019

Social dilemmas have been widely studied to explain how humans are able to cooperate in society. Considerable effort has been invested in designing artificial agents for social dilemmas that incorporate explicit agent motivations that are chosen to favor coordinated or cooperative responses. The prevalence of this general approach points towards the importance of achieving an understanding of both an agent's internal design and external environment dynamics that facilitate cooperative behavior. In this paper, we investigate how partner selection can promote cooperative behavior between agents who are trained to maximize a purely selfish objective function. Our experiments reveal that agents trained with this dynamic learn a strategy that retaliates against defectors while promoting cooperation with other agents resulting in a prosocial society.
A simple and efficient architecture for trainable activation functions
Venue: arXiv cs.LG 2019
Year: 2019

Learning automatically the best activation function for the task is an active topic in neural network research. At the moment, despite promising results, it is still difficult to determine a method for learning an activation function that is at the same time theoretically simple and easy to implement. Moreover, most of the methods proposed so far introduce new parameters or adopt different learning techniques. In this work we propose a simple method to obtain trained activation function which adds to the neural network local subnetworks with a small amount of neurons. Experiments show that this approach could lead to better result with respect to using a pre-defined activation function, without introducing a large amount of extra parameters that need to be learned.
Active Area Coverage from Equilibrium
Venue: arXiv cs.RO 2019
Year: 2019

This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies during active data collection. We show that our method is able to maintain Lyapunov attractiveness while still actively seeking out data. Using incremental sparse Gaussian processes, we define distributions which allow a robot to actively seek out informative measurements. We illustrate our methods for shape estimation using a cart double pendulum, dynamic model learning of a hovering quadrotor, and generating galloping gaits starting from stationary equilibrium by learning a dynamics model for the half-cheetah system from the Roboschool environment.
Proactive rebalancing and speed-up techniques for on-demand high capacity ridesourcing services
Venue: arXiv cs.SY 2019
Year: 2019

We present a probabilistic proactive rebalancing method and speed-up techniques for improving the performance of a state-of-the-art real-time high-capacity fleet management framework [1]. We improve on both computational efficiency and system performance. The speed-up techniques include search-space pruning and I/O cost reduction for parallelization, reducing the computation time by up to 97.67%, in experiments on taxi trips in New York City. The proactive rebalancing routes idle vehicles to future demands based on probabilistic estimates from historical demand, increasing the service rate by 4.8% on average, and decreasing the waiting time and total delay by 5.0% and 10.7% on average, respectively.
When Causal Intervention Meets Adversarial Examples and Image Masking for Deep Neural Networks
Venue: arXiv cs.CV 2019
Year: 2019

Discovering and exploiting the causality in deep neural networks (DNNs) are crucial challenges for understanding and reasoning causal effects (CE) on an explainable visual model. "Intervention" has been widely used for recognizing a causal relation ontologically. In this paper, we propose a causal inference framework for visual reasoning via do-calculus. To study the intervention effects on pixel-level features for causal reasoning, we introduce pixel-wise masking and adversarial perturbation. In our framework, CE is calculated using features in a latent space and perturbed prediction from a DNN-based model. We further provide the first look into the characteristics of discovered CE of adversarially perturbed images generated by gradient-based methods \footnote{~~https://github.com/jjaacckkyy63/Causal-Intervention-AE-wAdvImg}. Experimental results show that CE is a competitive and robust index for understanding DNNs when compared with conventional methods such as class-activation mappings (CAMs) on the Chest X-Ray-14 dataset for human-interpretable feature(s) (e.g., symptom) reasoning. Moreover, CE holds promises for detecting adversarial examples as it possesses distinct characteristics in the presence of adversarial perturbations.
Cloud Programming Simplified: A Berkeley View on Serverless Computing
Venue: arXiv cs.OS 2019
Year: 2019

Serverless cloud computing handles virtually all the system administration operations needed to make it easier for programmers to use the cloud. It provides an interface that greatly simplifies cloud programming, and represents an evolution that parallels the transition from assembly language to high-level programming languages. This paper gives a quick history of cloud computing, including an accounting of the predictions of the 2009 Berkeley View of Cloud Computing paper, explains the motivation for serverless computing, describes applications that stretch the current limits of serverless, and then lists obstacles and research opportunities required for serverless computing to fulfill its full potential. Just as the 2009 paper identified challenges for the cloud and predicted they would be addressed and that cloud use would accelerate, we predict these issues are solvable and that serverless computing will grow to dominate the future of cloud computing.
HNLB: Utilizing Hardware Matching Capabilities of NICs for Offloading Stateful Load Balancers
Venue: arXiv cs.NI 2019
Year: 2019

In order to scale web or other services, the load on single instances of the respective service has to be balanced. Many services are stateful such that packets belonging to the same connection must be delivered to the same instance. This requires stateful load balancers which are mostly implemented in software. On the one hand, modern packet processing frameworks supporting software load balancers, such as the Data Plane Development Kit (DPDK), deliver high performance compared to older approaches. On the other hand, common Network Interface Cards (NICs) provide additional matching capabilities that can be utilized for increasing the performance even further and in turn reduce the necessary server resources. In fact, offloading the packet matching to hardware can free up CPU cycles of the servers. Therefore, in this work, we propose the Hybrid NIC-offloading Load Balancer (HNLB), a high performance hybrid hardware-software load balancer, utilizing the NIC-offloading hardware matching capabilities. The results of our performance evaluations show that the throughput using NIC offloading can be increased by up to 50%, compared to a high performance software-only implementation. Furthermore, we investigated the limitations of our proposed approach, e.g., the limited number of possible concurrent connections.
Venn GAN: Discovering Commonalities and Particularities of Multiple Distributions
Venue: arXiv cs.LG 2019
Year: 2019

We propose a GAN design which models multiple distributions effectively and discovers their commonalities and particularities. Each data distribution is modeled with a mixture of $K$ generator distributions. As the generators are partially shared between the modeling of different true data distributions, shared ones captures the commonality of the distributions, while non-shared ones capture unique aspects of them. We show the effectiveness of our method on various datasets (MNIST, Fashion MNIST, CIFAR-10, Omniglot, CelebA) with compelling results.
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Venue: arXiv cs.RO 2019
Year: 2019

Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel quasi-static model of planar manipulation that directly maps commanded manipulator velocities to object motion. While quasi-static models have traditionally been unable to capture grasping and jamming behaviors, our approach solves this issue by explicitly modeling the limiting behavior of a velocity-controlled manipulator. We retain the precise modeling of surface contact pressure distributions and efficient computation of contact-rich behaviors of previous methods and additionally prove existence of solutions for any desired manipulator motion. We derive continuous and time-stepping formulations, both posed as tractable Linear Complementarity Problems (LCPs).
Assessing the Local Interpretability of Machine Learning Models
Venue: arXiv cs.LG 2019
Year: 2019

The increasing adoption of machine learning tools has led to calls for accountability via model interpretability. But what does it mean for a machine learning model to be interpretable by humans, and how can this be assessed? We focus on two definitions of interpretability that have been introduced in the machine learning literature: simulatability (a user's ability to run a model on a given input) and "what if" local explainability (a user's ability to correctly determine a model's prediction under local changes to the input, given knowledge of the model's original prediction). Through a user study with 1,000 participants, we test whether humans perform well on tasks that mimic the definitions of simulatability and "what if" local explainability on models that are typically considered locally interpretable. To track the relative interpretability of models, we employ a simple metric, the runtime operation count on the simulatability task. We find evidence that as the number of operations increases, participant accuracy on the local interpretability tasks decreases. In addition, this evidence is consistent with the common intuition that decision trees and logistic regression models are interpretable and are more interpretable than neural networks.
Semantically Enhanced Time Series Databases in IoT-Edge-Cloud Infrastructure
Venue: arXiv cs.DC 2019
Year: 2019

Many IoT systems are data intensive and are for the purpose of monitoring for fault detection and diagnosis of critical systems. A large volume of data steadily come out of a large number of sensors in the monitoring system. Thus, we need to consider how to store and manage these data. Existing time series databases (TSDBs) can be used for monitoring data storage, but they do not have good models for describing the data streams stored in the database. In this paper, we develop a semantic model for the specification of the monitoring data streams (time series data) in terms of which sensor generated the data stream, which metric of which entity the sensor is monitoring, what is the relation of the entity to other entities in the system, which measurement unit is used for the data stream, etc. We have also developed a tool suite, SE-TSDB, that can run on top of existing TSDBs to help establish semantic specifications for data streams and enable semantic-based data retrievals. With our semantic model for monitoring data and our SE-TSDB tool suite, users can retrieve non-existing data streams that can be automatically derived from the semantics. Users can also retrieve data streams without knowing where they are. Semantic based retrieval is especially important in a large-scale integrated IoT-Edge-Cloud system, because of its sheer quantity of data, its huge number of computing and IoT devices that may store the data, and the dynamics in data migration and evolution. With better data semantics, data streams can be more effectively tracked and flexibly retrieved to help with timely data analysis and control decision making anywhere and anytime.
On the Performance Gain of NOMA over OMA in Uplink Single-cell Systems
Venue: arXiv cs.IT 2019
Year: 2019

In this paper, we investigate the performance gain of non-orthogonal multiple access (NOMA) over orthogonal multiple access (OMA) in uplink single-cell systems. In both single-antenna and multi-antenna scenarios, the performance gain of NOMA over OMA in terms of asymptotic ergodic sum-rate is analyzed for a sufficiently large number of users. In particular, in single-antenna systems, we identify two types of near-far gains brought by NOMA: 1) the large-scale near-far gain via exploiting the large-scale fading increases with the cell size; 2) the small-scale near-far gain via exploiting the small-scale fading is a constant given by $γ= 0.57721$ nat/s/Hz in Rayleigh fading channels. Furthermore, we have analyzed that the performance gain achieved by single-antenna NOMA can be amplified via increasing the number of antennas equipped at the base station due to the extra spatial degrees of freedom. The numerical results confirm the accuracy of the derived analyses and unveil the performance gains of NOMA over OMA in different scenarios.
Human Computer Interaction Design for Mobile Devices Based on a Smart Healthcare Architecture
Venue: arXiv cs.HC 2019
Year: 2019

Smart and IoT-enabled mobile devices have the potential to enhance healthcare services for both patients and healthcare providers. Human computer interaction design is key to realizing a useful and usable connection between the users and these smart healthcare technologies. Appropriate design of such devices enhances the usability, improves effective operation in an integrated healthcare system, and facilitates the collaboration and information sharing between patients, healthcare providers, and institutions. In this paper, the concept of smart healthcare is introduced, including its four-layer information architecture of sensing, communication, data integration, and application. Human Computer Interaction design principles for smart healthcare mobile devices are outlined, based on user-centered design. These include: ensuring safety, providing error-resistant displays and alarms, supporting the unique relationship between patients and healthcare providers, distinguishing end-user groups, accommodating legacy devices, guaranteeing low latency, allowing for personalization, and ensuring patient privacy. Results are synthesized in design suggestions ranging from personas, scenarios, workflow, and information architecture, to prototyping, testing and iterative development. Finally, future developments in smart healthcare and Human Computer Interaction design for mobile health devices are outlined.
Binary Message Passing Decoding of Product-like Codes
Venue: arXiv cs.IT 2019
Year: 2019

We propose a novel binary message passing decoding algorithm for product-like codes based on bounded distance decoding (BDD) of the component codes. The algorithm, dubbed iterative BDD with scaled reliability (iBDD-SR), exploits the channel reliabilities and is therefore soft in nature. However, the messages exchanged by the component decoders are binary (hard) messages, which significantly reduces the decoder data flow. The exchanged binary messages are obtained by combining the channel reliability with the BDD decoder output reliabilities, properly conveyed by a scaling factor applied to the BDD decisions. We perform a density evolution analysis for generalized low-density parity-check (GLDPC) code ensembles and spatially coupled GLDPC code ensembles, from which the scaling factors of the iBDD-SR for product and staircase codes, respectively, can be obtained. For the white additive Gaussian noise channel, we show performance gains up to $0.29$ dB and $0.31$ dB for product and staircase codes compared to conventional iterative BDD (iBDD) with the same decoder data flow. Furthermore, we show that iBDD-SR approaches the performance of ideal iBDD that prevents miscorrections.
Exploring Spatial, Temporal, and Logical Attacks on the Bitcoin Network
Venue: arXiv cs.NI 2019
Year: 2019

In this paper, we explore the partitioning attacks on the Bitcoin network, which is shown to exhibit spatial bias, and temporal and logical diversity. Through data-driven study we highlight: 1) the centralization of Bitcoin nodes across autonomous systems, indicating the possibility of BGP attacks, 2)the non-uniform consensus among nodes, that can be exploited to partition the network, and 3)the diversity in the Bitcoin software usage that can lead to privacy attacks. Atop the prior work, which focused on spatial partitioning, our work extends the analysis of the Bitcoin network to understand the temporal and logical effects on the robustness of the Bitcoin network.
Machine Learning With Feature Selection Using Principal Component Analysis for Malware Detection: A Case Study
Venue: arXiv cs.CR 2019
Year: 2019

Cyber security threats have been growing significantly in both volume and sophistication over the past decade. This poses great challenges to malware detection without considerable automation. In this paper, we have proposed a novel approach by extending our recently suggested artificial neural network (ANN) based model with feature selection using the principal component analysis (PCA) technique for malware detection. The effectiveness of the approach has been successfully demonstrated with the application in PDF malware detection. A varying number of principal components is examined in the comparative study. Our evaluation shows that the model with PCA can significantly reduce feature redundancy and learning time with minimum impact on data information loss, as confirmed by both training and testing results based on around 105,000 real-world PDF documents. Of the evaluated models using PCA, the model with 32 principal feature components exhibits very similar training accuracy to the model using the 48 original features, resulting in around 33% dimensionality reduction and 22% less learning time. The testing results further confirm the effectiveness and show that the model is able to achieve 93.17% true positive rate (TPR) while maintaining the same low false positive rate (FPR) of 0.08% as the case when no feature selection is applied, which significantly outperforms all evaluated seven well known commercial antivirus (AV) scanners of which the best scanner only has a TPR of 84.53%.
Low Barrier Magnet Design for Efficient Hardware Binary Stochastic Neurons
Venue: arXiv cs.ET 2019
Year: 2019

Binary stochastic neurons (BSN's) form an integral part of many machine learning algorithms, motivating the development of hardware accelerators for this complex function. It has been recognized that hardware BSN's can be implemented using low barrier magnets (LBM's) by minimally modifying present-day magnetoresistive random access memory (MRAM) devices. A crucial parameter that determines the response of these LBM based BSN designs is the \emph{correlation time} of magnetization, $τ_c$. In this letter, we show that for magnets with low energy barriers ($Δ\approx k_BT$ and below), circular disk magnets with in-plane magnetic anisotropy (IMA) lead to $τ_c$ values that are two orders of magnitude smaller compared to $τ_c$ for magnets having perpendicular magnetic anisotropy (PMA) and provide analytical descriptions. We show that this striking difference in $τ_c$ is due to a precession-like fluctuation mechanism that is enabled by the large demagnetization field in IMA magnets. We provide a detailed energy-delay performance evaluation of previously proposed BSN designs based on Spin-Orbit-Torque (SOT) MRAM and Spin-Transfer-Torque (STT) MRAM employing low barrier circular IMA magnets by SPICE simulations. The designs exhibit sub-ns response times leading to energy requirements of $\sim$a few fJ to evaluate the BSN function, orders of magnitude lower than digital CMOS implementations with a much larger footprint. While modern MRAM technology is based on PMA magnets, results in this paper suggest that low barrier circular IMA magnets may be more suitable for this application.