OpenRaiser/Intern-Atlas huggingface dataset:
Microservice Architectures for Advanced Driver Assistance Systems: A Case-Study
Venue: arXiv cs.SE 2019
Year: 2019

The technological advancements of recent years have steadily increased the complexity of vehicle-internal software systems, and the ongoing development towards autonomous driving will further aggravate this situation. This is leading to a level of complexity that is pushing the limits of existing vehicle software architectures and system designs. By changing the software structure to a service-based architecture, companies in other domains successfully managed the rising complexity and created a more agile and future-oriented development process. This paper presents a case-study investigating the feasibility and possible effects of changing the software architecture for a complex driver assistance function to a microservice architecture. The complete procedure is described, starting with the description of the software-environment and the corresponding requirements, followed by the implementation, and the final testing. In addition, this paper provides a high-level evaluation of the microservice architecture for the automotive use-case. The results show that microservice architectures can reduce complexity and time-consuming process steps and makes the automotive software systems prepared for upcoming challenges as long as the principles of microservice architectures are carefully followed.
Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers
Venue: arXiv cs.RO 2019
Year: 2019

This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of the mechanical tool is two symmetric parallelograms which transmit the motion of the robotic gripper to the mechanical tool. Four torsion springs are attached to the four inner joints of the two parallelograms to open the tool as the robotic gripper releases. The forces and transmission are analyzed in detail to make sure the tool reacts well with respect to the gripping forces and the spring stiffness. Also, based on the kinematic structure, variety tooltips were designed for the mechanical tool to perform various tasks. The kinematic structure can be a platform to apply various skillful gripper designs. The designed tool could be treated as a normal object and be picked up and used by automatically planned grasps. A robot may locate the tool through the AR markers attached to the tool body, grasp the tool by selecting an automatically planned grasp, and move the tool from any arbitrary pose to a specific pose to grip objects. The robot may also determine the optimal grasps and usage according to the requirements of given tasks.
A Survey of Crowdsourcing in Medical Image Analysis
Venue: arXiv cs.CV 2019
Year: 2019

Rapid advances in image processing capabilities have been seen across many domains, fostered by the application of machine learning algorithms to "big-data". However, within the realm of medical image analysis, advances have been curtailed, in part, due to the limited availability of large-scale, well-annotated datasets. One of the main reasons for this is the high cost often associated with producing large amounts of high-quality meta-data. Recently, there has been growing interest in the application of crowdsourcing for this purpose; a technique that has proven effective for creating large-scale datasets across a range of disciplines, from computer vision to astrophysics. Despite the growing popularity of this approach, there has not yet been a comprehensive literature review to provide guidance to researchers considering using crowdsourcing methodologies in their own medical imaging analysis. In this survey, we review studies applying crowdsourcing to the analysis of medical images, published prior to July 2018. We identify common approaches, challenges and considerations, providing guidance of utility to researchers adopting this approach. Finally, we discuss future opportunities for development within this emerging domain.
Telling the Early Story of Solar Energy Meteorology by Applying (Co-Citation) Reference Publication Year Spectroscopy
Venue: arXiv cs.DL 2019
Year: 2019

Studying the history of research fields by analyzing publication records and topical and/or keyword searches with a full Reference Publication Year Spectroscopy (RPYS) has been introduced as a powerful tool to identify the corresponding root publications. However, for a rather new and interdisciplinary research field like Solar Energy Meteorology (SEM), this method is not feasible to get a reasonably exhaustive publication set. Therefore we apply its variant RPYS-CO to all publications co-cited with one highly important marker paper, using the CRExplorer for plotting and inspecting the spectrogram of the number of cited references. Examining its peaks and their main contributing publications, we get a list of seminal papers, which are able to adequately tell us the story of SEM up to the 1990s. Generally, we recommend this method to gain valuable insights in (new) research fields.
Robust Sound Source Localization considering Similarity of Back-Propagation Signals
Venue: arXiv cs.SD 2019
Year: 2019

We present a novel, robust sound source localization algorithm considering back-propagation signals. Sound propagation paths are estimated by generating direct and reflection acoustic rays based on ray tracing in a backward manner. We then compute the back-propagation signals by designing and using the impulse response of the backward sound propagation based on the acoustic ray paths. For identifying the 3D source position, we suggest a localization method based on the Monte Carlo localization algorithm. Candidates for a source position is determined by identifying the convergence regions of acoustic ray paths. This candidate is validated by measuring similarities between back-propagation signals, under the assumption that the back-propagation signals of different acoustic ray paths should be similar near the sound source position. Thanks to considering similarities of back-propagation signals, our approach can localize a source position with an averaged error of 0.51 m in a room of 7 m by 7 m area with 3 m height in tested environments. We also observe 65 % to 220 % improvement in accuracy over the stateof-the-art method. This improvement is achieved in environments containing a moving source, an obstacle, and noises.
Faster Genetic Programming GPquick via multicore and Advanced Vector Extensions
Venue: arXiv cs.NE 2019
Year: 2019

We evolve floating point Sextic polynomial populations of genetic programming binary trees for up to a million generations. Programs with almost four hundred million instructions are created by crossover. To support unbounded Long-Term Evolution Experiment LTEE GP we use both SIMD parallel AVX 512 bit instructions and 48 threads to yield performance of up to 139 billion GP operations per second, 139 giga GPops, on a single Intel Xeon Gold 6126 2.60GHz server.
On One-Round Discrete Voronoi Games
Venue: arXiv cs.CG 2019
Year: 2019

Let $V$ be a multiset of $n$ points in $\mathbb{R}^d$, which we call voters, and let $k\geq 1$ and $\ell\geq 1$ be two given constants. We consider the following game, where two players $\mathcal{P}$ and $\mathcal{Q}$ compete over the voters in $V$: First, player $\mathcal{P}$ selects $k$ points in $\mathbb{R}^d$, and then player $\mathcal{Q}$ selects $\ell$ points in $\mathbb{R}^d$. Player $\mathcal{P}$ wins a voter $v\in V$ iff $\mathrm{dist}(v,P) \leq \mathrm{dist}(v,Q)$, where $\mathrm{dist}(v,P) := \min_{p\in P} \mathrm{dist}(v,p)$ and $\mathrm{dist}(v,Q)$ is defined similarly. Player $\mathcal{P}$ wins the game if he wins at least half the voters. The algorithmic problem we study is the following: given $V$, $k$, and $\ell$, how efficiently can we decide if player $\mathcal{P}$ has a winning strategy, that is, if $\mathcal{P}$ can select his $k$ points such that he wins the game no matter where $\mathcal{Q}$ places her points. Banik et al. devised a singly-exponential algorithm for the game in $\mathbb{R}^1$, for the case $k=\ell$. We improve their result by presenting the first polynomial-time algorithm for the game in $\mathbb{R}^1$. Our algorithm can handle arbitrary values of $k$ and $\ell$. We also show that if $d\geq 2$, deciding if player $\mathcal{P}$ has a winning strategy is $Σ_2^P$-hard when $k$ and $\ell$ are part of the input. Finally, we prove that for any dimension $d$, the problem is contained in the complexity class $\exists\forall \mathbb{R}$, and we give an algorithm that works in polynomial time for fixed $k$ and $\ell$.
Wasserstein-Wasserstein Auto-Encoders
Venue: arXiv cs.LG 2019
Year: 2019

To address the challenges in learning deep generative models (e.g.,the blurriness of variational auto-encoder and the instability of training generative adversarial networks, we propose a novel deep generative model, named Wasserstein-Wasserstein auto-encoders (WWAE). We formulate WWAE as minimization of the penalized optimal transport between the target distribution and the generated distribution. By noticing that both the prior $P_Z$ and the aggregated posterior $Q_Z$ of the latent code Z can be well captured by Gaussians, the proposed WWAE utilizes the closed-form of the squared Wasserstein-2 distance for two Gaussians in the optimization process. As a result, WWAE does not suffer from the sampling burden and it is computationally efficient by leveraging the reparameterization trick. Numerical results evaluated on multiple benchmark datasets including MNIST, fashion- MNIST and CelebA show that WWAE learns better latent structures than VAEs and generates samples of better visual quality and higher FID scores than VAEs and GANs.
Nonlinear Negotiation Approaches for Complex-Network Optimization: A Study Inspired by Wi-Fi Channel Assignment
Venue: arXiv cs.NI 2019
Year: 2019

At the present time, Wi-Fi networks are everywhere. They operate in unlicensed radio-frequency spectrum bands (divided in channels), which are highly congested. The purpose of this paper is to tackle the problem of channel assignment in Wi-Fi networks. To this end, we have modeled the networks as multilayer graphs, in a way that frequency channel assignment becomes a graph coloring problem. For a high number and variety of scenarios, we have solved the problem with two different automated negotiation techniques: a hill-climber and a simulated annealer. As an upper bound reference for the performance of these two techniques, we have also solved the problem using a particle swarm optimizer. Results show that the annealer negotiator behaves as the best choice because it is able to obtain even better results than the particle swarm optimizer in the most complex scenarios under study, with running times one order of magnitude below. Finally, we study how different properties of the network layout affect to the performance gain that the annealer is able to obtain with respect to the particle swarm optimizer.
Monitorology the art of observing the world
Venue: arXiv cs.OH 2019
Year: 2019

In the age of ever increasing demand for big data and data analytics, a question of collecting the data becomes fundamental. What and how to collect the data is essential as it has direct impact on decision making, system operation and control. Specifically, we focus on the art of observing the world by electronic devices such as sensors and meters that, in general, we call monitors. We define five challenges to ensure effective and efficient monitoring that still need a lot of research. Additionally, we illustrate each challenge by example. Since reliance on big data and data analytics is continuously increasing, these challenges will become ever more relevant to save the world from flood of meaningless, dumb data, leading frequently to false conclusions and wrong decisions whose impact may range from a minor inconvenience to major disasters and even loss of lives.
G-IOTA: Fair and confidence aware tangle
Venue: arXiv cs.DC 2019
Year: 2019

This paper proposes strategies to improve the IOTA tangle in terms of resilience to splitting attacks. Our contribution is two fold. First, we define the notion of confidence fairness for tips selection algorithms to guarantee the first approval for all honest tips. Then, we analyze IOTA-tangle from the point of view of confidence fairness and identify its drawbacks. Second, we propose a new selection mechanism, G-IOTA, that targets to protect tips left behind. G-IOTA therefore has a good confidence fairness. G-IOTA lets honest transactions increase their confidence efficiently. Furthermore, G-IOTA includes an incentive mechanism for users who respect the algorithm and punishes conflicting transactions. Additionally, G-IOTA provides a mutual supervision mechanism that reduces the benefits of speculative and lazy behaviours.
Dynamic Fault Tolerance Through Resource Pooling
Venue: arXiv cs.DC 2019
Year: 2019

Miniaturized satellites are currently not considered suitable for critical, high-priority, and complex multi-phased missions, due to their low reliability. As hardware-side fault tolerance (FT) solutions designed for larger spacecraft can not be adopted aboard very small satellites due to budget, energy, and size constraints, we developed a hybrid FT-approach based upon only COTS components, commodity processor cores, library IP, and standard software. This approach facilitates fault detection, isolation, and recovery in software, and utilizes fault-coverage techniques across the embedded stack within an multiprocessor system-on-chip (MPSoC). This allows our FPGA-based proof-of-concept implementation to deliver strong fault-coverage even for missions with a long duration, but also to adapt to varying performance requirements during the mission. The operator of a spacecraft utilizing this approach can define performance profiles, which allow an on-board computer (OBC) to trade between processing capacity, fault coverage, and energy consumption using simple heuristics. The software-side FT approach developed also offers advantages if deployed aboard larger spacecraft through spare resource pooling, enabling an OBC to more efficiently handle permanent faults. This FT approach in part mimics a critical biological systems's way of tolerating and adjusting to failures, enabling graceful ageing of an MPSoC.
The Capacity of Private Information Retrieval from Heterogeneous Uncoded Caching Databases
Venue: arXiv cs.IT 2019
Year: 2019

We consider private information retrieval (PIR) of a single file out of $K$ files from $N$ non-colluding databases with heterogeneous storage constraints $\mathbf{m}=(m_1, \cdots, m_N)$. The aim of this work is to jointly design the content placement phase and the information retrieval phase in order to minimize the download cost in the PIR phase. We characterize the optimal PIR download cost as a linear program. By analyzing the structure of the optimal solution of this linear program, we show that, surprisingly, the optimal download cost in our heterogeneous case matches its homogeneous counterpart where all databases have the same average storage constraint $μ=\frac{1}{N} \sum_{n=1}^{N} m_n$. Thus, we show that there is no loss in the PIR capacity due to heterogeneity of storage spaces of the databases. We provide the optimum content placement explicitly for $N=3$.
Dependent choice as a termination principle
Venue: arXiv cs.LO 2019
Year: 2019

We introduce a new formulation of the axiom of dependent choice that can be viewed as an abstract termination principle, which generalises the recursive path orderings used to establish termination of rewrite systems. We consider several variants of our termination principle, and relate them to general termination theorems in the literature.
MisGAN: Learning from Incomplete Data with Generative Adversarial Networks
Venue: arXiv cs.LG 2019
Year: 2019

Generative adversarial networks (GANs) have been shown to provide an effective way to model complex distributions and have obtained impressive results on various challenging tasks. However, typical GANs require fully-observed data during training. In this paper, we present a GAN-based framework for learning from complex, high-dimensional incomplete data. The proposed framework learns a complete data generator along with a mask generator that models the missing data distribution. We further demonstrate how to impute missing data by equipping our framework with an adversarially trained imputer. We evaluate the proposed framework using a series of experiments with several types of missing data processes under the missing completely at random assumption.
Fractal: Automated Application Scaling
Venue: arXiv cs.DC 2019
Year: 2019

To date, cloud applications have used datacenter resources through manual configuration and deployment of virtual machines and containers. Current trends see increasing use of microservices, where larger applications are split into many small containers, to be developed and deployed independently. However, even with the rise of the devops movement and orchestration facilities such as Kubernetes, there is a tendency to separate development from deployment. We present an exploration of a more extreme point on the devops spectrum: Fractal. Developers embed orchestration logic inside their application, fully automating the processes of scaling up and down. Providing a set of extensions to and an API over the Jitsu platform, we outline the design of Fractal and describe the key features of its implementation: how an application is self-replicated, how replica lifecycles are managed, how failure recovery is handled, and how network traffic is transparently distributed between replicas. We present evaluation of a self-scaling website, and demonstrate that Fractal is both useful and feasible.
Informative Path Planning for Active Field Mapping under Localization Uncertainty
Venue: arXiv cs.RO 2019
Year: 2019

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the uncertainty on its inputs. For planning, we formulate a new utility function that couples the localization and field mapping objectives in GP-based mapping scenarios in a principled way, without relying on any manually tuned parameters. Extensive simulations show that our approach outperforms existing strategies, with reductions in mean pose uncertainty and map error. We also present a proof of concept in an indoor temperature mapping scenario.
Learning to Sample Hard Instances for Graph Algorithms
Venue: arXiv cs.LG 2019
Year: 2019

Hard instances, which require a long time for a specific algorithm to solve, help (1) analyze the algorithm for accelerating it and (2) build a good benchmark for evaluating the performance of algorithms. There exist several efforts for automatic generation of hard instances. For example, evolutionary algorithms have been utilized to generate hard instances. However, they generate only finite number of hard instances. The merit of such methods is limited because it is difficult to extract meaningful patterns from small number of instances. We seek for a probabilistic generator of hard instances. Once the generative distribution of hard instances is obtained, we can sample a variety of hard instances to build a benchmark, and we can extract meaningful patterns of hard instances from sampled instances. The existing methods for modeling the hard instance distribution rely on parameters or rules that are found by domain experts; however, they are specific to the problem. Hence, it is challenging to model the distribution for general cases. In this paper, we focus on graph problems. We propose HiSampler, the hard instance sampler, to model the hard instance distribution of graph algorithms. HiSampler makes it possible to obtain the distribution of hard instances without hand-engineered features. To the best of our knowledge, this is the first method to learn the distribution of hard instances using machine learning. Through experiments, we demonstrate that our proposed method can generate instances that are a few to several orders of magnitude harder than the random-based approach in many settings. In particular, our method outperforms rule-based algorithms in the 3-coloring problem.
Community-based 3-SAT Formulas with a Predefined Solution
Venue: arXiv cs.AI 2019
Year: 2019

It is crucial to generate crafted SAT formulas with predefined solutions for the testing and development of SAT solvers since many SAT formulas from real-world applications have solutions. Although some generating algorithms have been proposed to generate SAT formulas with predefined solutions, community structures of SAT formulas are not considered. We propose a 3-SAT formula generating algorithm that not only guarantees the existence of a predefined solution, but also simultaneously considers community structures and clause distributions. The proposed 3-SAT formula generating algorithm controls the quality of community structures through controlling (1) the number of clauses whose variables have a common community, which we call intra-community clauses, and (2) the number of variables that only belong to one community, which we call intra-community variables. To study the combined effect of community structures and clause distributions on the hardness of SAT formulas, we measure solving runtimes of two solvers, gluHack (a leading CDCL solver) and CPSparrow (a leading SLS solver), on the generated SAT formulas under different groups of parameter settings. Through extensive experiments, we obtain some noteworthy observations on the SAT formulas generated by the proposed algorithm: (1) The community structure has little or no effects on the hardness of SAT formulas with regard to CPSparrow but a strong effect with regard to gluHack. (2) Only when the proportion of true literals in a SAT formula in terms of the predefined solution is 0.5, SAT formulas are hard-to-solve with regard to gluHack; when this proportion is below 0.5, SAT formulas are hard-to-solve with regard to CPSparrow. (3) When the ratio of the number of clauses to that of variables is around 4.25, the SAT formulas are hard-to-solve with regard to both gluHack and CPSparrow.
Detecting Data Errors with Statistical Constraints
Venue: arXiv cs.DB 2019
Year: 2019

A powerful approach to detecting erroneous data is to check which potentially dirty data records are incompatible with a user's domain knowledge. Previous approaches allow the user to specify domain knowledge in the form of logical constraints (e.g., functional dependency and denial constraints). We extend the constraint-based approach by introducing a novel class of statistical constraints (SCs). An SC treats each column as a random variable, and enforces an independence or dependence relationship between two (or a few) random variables. Statistical constraints are expressive, allowing the user to specify a wide range of domain knowledge, beyond traditional integrity constraints. Furthermore, they work harmoniously with downstream statistical modeling. We develop CODED, an SC-Oriented Data Error Detection system that supports three key tasks: (1) Checking whether an SC is violated or not on a given dataset, (2) Identify the top-k records that contribute the most to the violation of an SC, and (3) Checking whether a set of input SCs have conflicts or not. We present effective solutions for each task. Experiments on synthetic and real-world data illustrate how SCs apply to error detection, and provide evidence that CODED performs better than state-of-the-art approaches.