OpenRaiser/Intern-Atlas huggingface dataset:
Real-time enforcement of local energy market transactions respecting distribution grid constraints
Venue: arXiv cs.SY 2019
Year: 2019

Future electricity distribution grids will host a considerable share of the renewable energy sources needed for enforcing the energy transition. Demand side management mechanisms play a key role in the integration of such renewable energy resources by exploiting the flexibility of elastic loads, generation or electricity storage technologies. In particular, local energy markets enable households to exchange energy with each other while increasing the amount of renewable energy that is consumed locally. Nevertheless, as most ex-ante mechanisms, local market schedules rely on hour-ahead forecasts whose accuracy may be low. In this paper we cope with forecast errors by proposing a game theory approach to model the interactions among prosumers and distribution system operators for the control of electricity flows in real-time. The presented game has an aggregative equilibrium which can be attained in a semi-distributed manner, driving prosumers towards a final exchange of energy with the grid that benefits both households and operators, favoring the enforcement of prosumers' local market commitments while respecting the constraints defined by the operator. The proposed mechanism requires only one-to-all broadcast of price signals, which do not depend either on the amount of players or their local objective function and constraints, making the approach highly scalable. Its impact on distribution grid quality of supply was evaluated through load flow analysis and realistic load profiles, demonstrating the capacity of the mechanism ensure that voltage deviation and thermal limit constraints are respected.
A Hybrid Evolutionary Algorithm Framework for Optimising Power Take Off and Placements of Wave Energy Converters
Venue: arXiv cs.NE 2019
Year: 2019

Ocean wave energy is a source of renewable energy that has gained much attention for its potential to contribute significantly to meeting the global energy demand. In this research, we investigate the problem of maximising the energy delivered by farms of wave energy converters (WEC's). We consider state-of-the-art fully submerged three-tether converters deployed in arrays. The goal of this work is to use heuristic search to optimise the power output of arrays in a size-constrained environment by configuring WEC locations and the power-take-off (PTO) settings for each WEC. Modelling the complex hydrodynamic interactions in wave farms is expensive, which constrains search to only a few thousand model evaluations. We explore a variety of heuristic approaches including cooperative and hybrid methods. The effectiveness of these approaches is assessed in two real wave scenarios (Sydney and Perth) with farms of two different scales. We find that a combination of symmetric local search with Nelder-Mead Simplex direct search combined with a back-tracking optimization strategy is able to outperform previously defined search techniques by up to 3\%.
Rapid Signalling of Queue Dynamics
Venue: arXiv cs.NI 2019
Year: 2019

Rather than directly considering the queuing delay of data, this memo focuses on reducing the delay that congestion signals experience within a queue management algorithm, which can be greater than the delay that the data itself experiences within the queue. Once the congestion signals are delayed, regulation of the load becomes more sloppy, and the queue tends to overshoot and undershoot more as a result, leading the data itself to experience greater peaks in queuing delay as well as intermittent under-utilization. Where the service rate of a queue varies, it is preferable to measure the queue in units of time not bytes. However, the size of the queued backlog can be measured in bytes and signalled at the last instant as data leaves the queue, whereas measuring queuing delay introduces inherent delay. This paper proposes 'scaled sojourn time', which scales queuing delay by the ratio between the backlogs at dequeue and enqueue. This is equivalent to scaling the sojourn time by the ratio of the arrival and departure rates averaged over the time spent in the queue. The paper also proposes the removal of delays due to randomness in the signal encoding.
Decentralised Cooperative Collision Avoidance with Reference-Free Model Predictive Control and Desired Versus Planned Trajectories
Venue: arXiv cs.SY 2019
Year: 2019

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one car may automatically swerve to allow another to avoid an obstacle. However, this requires solving the challenging problem of deciding what joint trajectories an ad-hoc group of cooperating vehicles should follow, with no obvious leader known in advance. To avoid the complexities of agreeing what plan to follow in an ever-evolving situation, a protocol requiring no leader and no explicit inter-vehicle agreement is desirable, which nevertheless yields cooperative, robust behaviour. One method is demonstrated here, in simulation. This uses the notion of "desired" versus "planned" trajectories, allowing vehicles to influence each other for mutual benefit, without requiring a leader or explicit agreement protocol. Essentially the desired trajectory is that which the vehicle would choose if other cooperating vehicles were not present, avoiding the predicted paths of non-cooperating actors. The planned trajectory additionally accounts for the planned trajectories of other cooperating vehicles, giving the safest currently available path. Both trajectories are broadcast. As each vehicle attempts to (weakly) avoid the desired trajectories of other vehicles, cooperative behaviour emerges. A simple form of model predictive control is used. The cost function penalises predicted collisions, accounting for severity. There is a weak preference for maintaining the current road lane, but no explicit reference trajectory. This decentralised planning and simple optimisation scheme results in effective handling of a wide range of collision scenarios, with no hard limit to the number of cooperating vehicles. The computing cost is linear in the number of vehicles.
Model-Based Testing IoT Communication via Active Automata Learning
Venue: arXiv cs.SE 2019
Year: 2019

This paper presents a learning-based approach to detecting failures in reactive systems. The technique is based on inferring models of multiple implementations of a common specification which are pair-wise cross-checked for equivalence. Any counterexample to equivalence is flagged as suspicious and has to be analysed manually. Hence, it is possible to find possible failures in a semi-automatic way without prior modelling. We show that the approach is effective by means of a case study. For this case study, we carried out experiments in which we learned models of five implementations of MQTT brokers/servers, a protocol used in the Internet of Things. Examining these models, we found several violations of the MQTT specification. All but one of the considered implementations showed faulty behaviour. In the analysis, we discuss effectiveness and also issues we faced.
Saliency Prediction on Omnidirectional Images with Generative Adversarial Imitation Learning
Venue: arXiv cs.CV 2019
Year: 2019

When watching omnidirectional images (ODIs), subjects can access different viewports by moving their heads. Therefore, it is necessary to predict subjects' head fixations on ODIs. Inspired by generative adversarial imitation learning (GAIL), this paper proposes a novel approach to predict saliency of head fixations on ODIs, named SalGAIL. First, we establish a dataset for attention on ODIs (AOI). In contrast to traditional datasets, our AOI dataset is large-scale, which contains the head fixations of 30 subjects viewing 600 ODIs. Next, we mine our AOI dataset and determine three findings: (1) The consistency of head fixations are consistent among subjects, and it grows alongside the increased subject number; (2) The head fixations exist with a front center bias (FCB); and (3) The magnitude of head movement is similar across subjects. According to these findings, our SalGAIL approach applies deep reinforcement learning (DRL) to predict the head fixations of one subject, in which GAIL learns the reward of DRL, rather than the traditional human-designed reward. Then, multi-stream DRL is developed to yield the head fixations of different subjects, and the saliency map of an ODI is generated via convoluting predicted head fixations. Finally, experiments validate the effectiveness of our approach in predicting saliency maps of ODIs, significantly better than 10 state-of-the-art approaches.
Recurrent Neural Network for (Un-)supervised Learning of Monocular VideoVisual Odometry and Depth
Venue: arXiv cs.CV 2019
Year: 2019

Deep learning-based, single-view depth estimation methods have recently shown highly promising results. However, such methods ignore one of the most important features for determining depth in the human vision system, which is motion. We propose a learning-based, multi-view dense depth map and odometry estimation method that uses Recurrent Neural Networks (RNN) and trains utilizing multi-view image reprojection and forward-backward flow-consistency losses. Our model can be trained in a supervised or even unsupervised mode. It is designed for depth and visual odometry estimation from video where the input frames are temporally correlated. However, it also generalizes to single-view depth estimation. Our method produces superior results to the state-of-the-art approaches for single-view and multi-view learning-based depth estimation on the KITTI driving dataset.
Specifying Concurrent Programs in Separation Logic: Morphisms and Simulations
Venue: arXiv cs.PL 2019
Year: 2019

In addition to pre- and postconditions, program specifications in recent separation logics for concurrency have employed an algebraic structure of resources---a form of state transition system---to describe the state-based program invariants that must be preserved, and to record the permissible atomic changes to program state. In this paper we introduce a novel notion of resource morphism, i.e. structure-preserving function on resources, and show how to effectively integrate it into separation logic, using an associated notion of morphism-specific simulation. We apply morphisms and simulations to programs verified under one resource, to compositionally adapt them to operate under another resource, thus facilitating proof reuse.
Defence Efficiency
Venue: arXiv cs.PF 2019
Year: 2019

In order to automate actions, such as defences against network attacks, one needs to quantify their efficiency. This can subsequently be used in post-evaluation, learning, etc. In order to quantify the defence efficiency as a function of the impact of the defence and its total cost, we present several natural requirements from such a definition of efficiency and provide a natural definition that complies with these requirements. Next, we precisely characterize our definition of efficiency by the axiomatic approach; namely, we strengthen the original requirements from such a definition and prove that the given definition is the unique definition that satisfies those requirements. Finally, we generalize the definition to the case of any number of input variables in two natural ways, and compare these generalizations.
White-Box Atomic Multicast (Extended Version)
Venue: arXiv cs.DC 2019
Year: 2019

Atomic multicast is a communication primitive that delivers messages to multiple groups of processes according to some total order, with each group receiving the projection of the total order onto messages addressed to it. To be scalable, atomic multicast needs to be genuine, meaning that only the destination processes of a message should participate in ordering it. In this paper we propose a novel genuine atomic multicast protocol that in the absence of failures takes as low as 3 message delays to deliver a message when no other messages are multicast concurrently to its destination groups, and 5 message delays in the presence of concurrency. This improves the latencies of both the fault-tolerant version of classical Skeen's multicast protocol (6 or 12 message delays, depending on concurrency) and its recent improvement by Coelho et al. (4 or 8 message delays). To achieve such low latencies, we depart from the typical way of guaranteeing fault-tolerance by replicating each group with Paxos. Instead, we weave Paxos and Skeen's protocol together into a single coherent protocol, exploiting opportunities for white-box optimisations. We experimentally demonstrate that the superior theoretical characteristics of our protocol are reflected in practical performance pay-offs.
Synthetic Neural Vision System Design for Motion Pattern Recognition in Dynamic Robot Scenes
Venue: arXiv cs.NE 2019
Year: 2019

Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion perception, is an open question to date. In this paper, we propose a novel embedded vision system in autonomous micro-robots, to recognize motion patterns in dynamic robot scenes. Here, the basic motion patterns are categorized into movements of looming (proximity), recession, translation, and other irrelevant ones. The presented system is a synthetic neural network, which comprises two complementary sub-systems with four spiking neurons -- the lobula giant movement detectors (LGMD1 and LGMD2) in locusts for sensing looming and recession, and the direction selective neurons (DSN-R and DSN-L) in flies for translational motion extraction. Images are transformed to spikes via spatiotemporal computations towards a switch function and decision making mechanisms, in order to invoke proper robot behaviors amongst collision avoidance, tracking and wandering, in dynamic robot scenes. Our robot experiments demonstrated two main contributions: (1) This neural vision system is effective to recognize the basic motion patterns corresponding to timely and proper robot behaviors in dynamic scenes. (2) The arena tests with multi-robots demonstrated the effectiveness in recognizing more abundant motion features for collision detection, which is a great improvement compared with former studies.
Tutorial: Safe and Reliable Machine Learning
Venue: arXiv cs.LG 2019
Year: 2019

This document serves as a brief overview of the "Safe and Reliable Machine Learning" tutorial given at the 2019 ACM Conference on Fairness, Accountability, and Transparency (FAT* 2019). The talk slides can be found here: https://bit.ly/2Gfsukp, while a video of the talk is available here: https://youtu.be/FGLOCkC4KmE, and a complete list of references for the tutorial here: https://bit.ly/2GdLPme.
An LGMD Based Competitive Collision Avoidance Strategy for UAV
Venue: arXiv cs.RO 2019
Year: 2019

Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the locust's brain, a visual pathway of LGMD-DCMD (lobula giant movement detector and descending contra-lateral motion detector) has been identified as collision perception system guiding fast collision avoidance for locusts, which is ideal for designing artificial vision systems. However, there is very few works investigating its potential in real-world UAV applications. In this paper, we present an LGMD based competitive collision avoidance method for UAV indoor navigation. Compared to previous works, we divided the UAV's field of view into four subfields each handled by an LGMD neuron. Therefore, four individual competitive LGMDs (C-LGMD) compete for guiding the directional collision avoidance of UAV. With more degrees of freedom compared to ground robots and vehicles, the UAV can escape from collision along four cardinal directions (e.g. the object approaching from the left-side triggers a rightward shifting of the UAV). Our proposed method has been validated by both simulations and real-time quadcopter arena experiments.
From Hall's Marriage Theorem to Boolean Satisfiability and Back
Venue: arXiv cs.CC 2019
Year: 2019

Motivated by the application of Hall's Marriage Theorem in various LP-rounding problems, we introduce a generalization of the classical marriage problem (CMP) that we call the Fractional Marriage Problem. We show that the Fractional Marriage Problem is NP-Complete by reduction from Boolean Satisfiability (SAT). We show that when we view the classical marriage problem (a.k.a. bipartite matching) as a sub-class of SAT we get a new class of polynomial-time satisfiable SAT instances that we call CMP-SAT, different from the classically known polynomial-time satisfiable SAT instances 2-SAT, Horn-SAT and XOR-SAT. We next turn to the problem of recognizing CMP-SAT instances, first using SAT embeddings, and then using their embeddings within the universe of Fractional Marriage Problems (FMPs). In the process we are led to another generalization of the CMP that we call the Symmetric Marriage Problem, which is polynomial time decidable and leads to a slight enlargement of the CMP-SAT class. We develop a framework for simplifying FMP problems to identify CMP instances that we call Fragment Logic. Finally we give a result that sheds light on how expressive the FMP need be to still be NP-Complete. The result gives a second NP-Complete reduction of the FMP, this time to Tripartite Matching. We conclude with a wide assortment of suggested additional problems.
A deep learning model for early prediction of Alzheimer's disease dementia based on hippocampal MRI
Venue: arXiv cs.CV 2019
Year: 2019

Introduction: It is challenging at baseline to predict when and which individuals who meet criteria for mild cognitive impairment (MCI) will ultimately progress to Alzheimer's disease (AD) dementia. Methods: A deep learning method is developed and validated based on MRI scans of 2146 subjects (803 for training and 1343 for validation) to predict MCI subjects' progression to AD dementia in a time-to-event analysis setting. Results: The deep learning time-to-event model predicted individual subjects' progression to AD dementia with a concordance index (C-index) of 0.762 on 439 ADNI testing MCI subjects with follow-up duration from 6 to 78 months (quartiles: [24, 42, 54]) and a C-index of 0.781 on 40 AIBL testing MCI subjects with follow-up duration from 18-54 months (quartiles: [18, 36,54]). The predicted progression risk also clustered individual subjects into subgroups with significant differences in their progression time to AD dementia (p<0.0002). Improved performance for predicting progression to AD dementia (C-index=0.864) was obtained when the deep learning based progression risk was combined with baseline clinical measures. Conclusion: Our method provides a cost effective and accurate means for prognosis and potentially to facilitate enrollment in clinical trials with individuals likely to progress within a specific temporal period.
The 1/5-th Rule with Rollbacks: On Self-Adjustment of the Population Size in the $(1+(λ,λ))$ GA
Venue: arXiv cs.NE 2019
Year: 2019

Self-adjustment of parameters can significantly improve the performance of evolutionary algorithms. A notable example is the $(1+(λ,λ))$ genetic algorithm, where the adaptation of the population size helps to achieve the linear runtime on the OneMax problem. However, on problems which interfere with the assumptions behind the self-adjustment procedure, its usage can lead to performance degradation compared to static parameter choices. In particular, the one fifth rule, which guides the adaptation in the example above, is able to raise the population size too fast on problems which are too far away from the perfect fitness-distance correlation. We propose a modification of the one fifth rule in order to have less negative impact on the performance in scenarios when the original rule reduces the performance. Our modification, while still having a good performance on OneMax, both theoretically and in practice, also shows better results on linear functions with random weights and on random satisfiable MAX-SAT instances.
Natural Language Semantics With Pictures: Some Language & Vision Datasets and Potential Uses for Computational Semantics
Venue: arXiv cs.CL 2019
Year: 2019

Propelling, and propelled by, the "deep learning revolution", recent years have seen the introduction of ever larger corpora of images annotated with natural language expressions. We survey some of these corpora, taking a perspective that reverses the usual directionality, as it were, by viewing the images as semantic annotation of the natural language expressions. We discuss datasets that can be derived from the corpora, and tasks of potential interest for computational semanticists that can be defined on those. In this, we make use of relations provided by the corpora (namely, the link between expression and image, and that between two expressions linked to the same image) and relations that we can add (similarity relations between expressions, or between images). Specifically, we show that in this way we can create data that can be used to learn and evaluate lexical and compositional grounded semantics, and we show that the "linked to same image" relation tracks a semantic implication relation that is recognisable to annotators even in the absence of the linking image as evidence. Finally, as an example of possible benefits of this approach, we show that an exemplar-model-based approach to implication beats a (simple) distributional space-based one on some derived datasets, while lending itself to explainability.
Fault Detection Effectiveness of Metamorphic Relations Developed for Testing Supervised Classifiers
Venue: arXiv cs.SE 2019
Year: 2019

In machine learning, supervised classifiers are used to obtain predictions for unlabeled data by inferring prediction functions using labeled data. Supervised classifiers are widely applied in domains such as computational biology, computational physics and healthcare to make critical decisions. However, it is often hard to test supervised classifiers since the expected answers are unknown. This is commonly known as the \emph{oracle problem} and metamorphic testing (MT) has been used to test such programs. In MT, metamorphic relations (MRs) are developed from intrinsic characteristics of the software under test (SUT). These MRs are used to generate test data and to verify the correctness of the test results without the presence of a test oracle. Effectiveness of MT heavily depends on the MRs used for testing. In this paper we have conducted an extensive empirical study to evaluate the fault detection effectiveness of MRs that have been used in multiple previous studies to test supervised classifiers. Our study uses a total of 709 reachable mutants generated by multiple mutation engines and uses data sets with varying characteristics to test the SUT. Our results reveal that only 14.8\% of these mutants are detected using the MRs and that the fault detection effectiveness of these MRs do not scale with the increased number of mutants when compared to what was reported in previous studies.