OpenRaiser/Intern-Atlas huggingface dataset:
Energy Conservation and Power Bonds in Co-Simulations: Non-Iterative Adaptive Step Size Control and Error Estimation
Venue: arXiv cs.SY 2016
Year: 2016

Here, we study the flow of energy between coupled simulators in a co-simulation environment using the concept of power bonds. We introduce energy residuals which are a direct expression of the coupling errors and hence the accuracy of co-simulation results. We propose a novel Energy-Conservation-based Co-Simulation method (ECCO) for adaptive macro step size control to improve accuracy and efficiency. In contrast to most other co-simulation algorithms, this method is non-iterative and only requires knowledge of the current coupling data. Consequently, it allows for significant speed ups and the protection of sensitive information contained within simulator models. A quarter car model with linear and nonlinear damping serves as a co-simulation benchmark and verifies the capabilities of the energy residual concept: Reductions in the errors of up to 93% are achieved at no additional computational cost.
Millimeter Wave Vehicular Communication to Support Massive Automotive Sensing
Venue: arXiv cs.IT 2016
Year: 2016

As driving becomes more automated, vehicles are being equipped with more sensors generating even higher data rates. Radars (RAdio Detection and Ranging) are used for object detection, visual cameras as virtual mirrors, and LIDARs (LIght Detection and Ranging) for generating high resolution depth associated range maps, all to enhance the safety and efficiency of driving. Connected vehicles can use wireless communication to exchange sensor data, allowing them to enlarge their sensing range and improve automated driving functions. Unfortunately, conventional technologies, such as dedicated short-range communication (DSRC) and 4G cellular communication, do not support the gigabit-per-second data rates that would be required for raw sensor data exchange between vehicles. This paper makes the case that millimeter wave (mmWave) communication is the only viable approach for high bandwidth connected vehicles. The motivations and challenges associated with using mmWave for vehicle-to-vehicle and vehicle-to-infrastructure applications are highlighted. A high-level solution to one key challenge - the overhead of mmWave beam training - is proposed. The critical feature of this solution is to leverage information derived from the sensors or DSRC as side information for the mmWave communication link configuration. Examples and simulation results show that the beam alignment overhead can be reduced by using position information obtained from DSRC.
Wheeled Robots playing Chain Catch: Strategies and Evaluation
Venue: arXiv cs.MA 2016
Year: 2016

Robots playing games that humans are adept in is a challenge. We studied robotic agents playing Chain Catch game as a Multi-Agent System (MAS). Our game starts with a traditional Catch game similar to Pursuit evasion, and further extends it to form a growing chain of predator agents to chase remaining preys. Hence Chain Catch is a combination of two challenges - pursuit domain and robotic chain formation. These are games that require team of robotic agents to cooperate among themselves and to compete with other group of agents through quick decision making. In this paper, we present a Chain Catch simulator that allows us to incorporate game rules, design strategies and simulate the game play. We developed cost model driven strategies for each of Escapee, Catcher and Chain. Our results show that Sliding slope strategy is the best strategy for Escapees whereas Tagging method is the best method for chain s movement in Chain Catch. We also use production quality robots to implement the game play in a physical environment and analyze game strategies on real robots. Our real robots implementation in different scenarios shows that game strategies work as expected and a complete chain formation takes place successfully in each game.
Social planning for social HRI
Venue: arXiv cs.RO 2016
Year: 2016

Making a computational agent 'social' has implications for how it perceives itself and the environment in which it is situated, including the ability to recognise the behaviours of others. We point to recent work on social planning, i.e. planning in settings where the social context is relevant in the assessment of the beliefs and capabilities of others, and in making appropriate choices of what to do next.
Determining the best attributes for surveillance video keywords generation
Venue: arXiv cs.LG 2016
Year: 2016

Automatic video keyword generation is one of the key ingredients in reducing the burden of security officers in analyzing surveillance videos. Keywords or attributes are generally chosen manually based on expert knowledge of surveillance. Most existing works primarily aim at either supervised learning approaches relying on extensive manual labelling or hierarchical probabilistic models that assume the features are extracted using the bag-of-words approach; thus limiting the utilization of the other features. To address this, we turn our attention to automatic attribute discovery approaches. However, it is not clear which automatic discovery approach can discover the most meaningful attributes. Furthermore, little research has been done on how to compare and choose the best automatic attribute discovery methods. In this paper, we propose a novel approach, based on the shared structure exhibited amongst meaningful attributes, that enables us to compare between different automatic attribute discovery approaches.We then validate our approach by comparing various attribute discovery methods such as PiCoDeS on two attribute datasets. The evaluation shows that our approach is able to select the automatic discovery approach that discovers the most meaningful attributes. We then employ the best discovery approach to generate keywords for videos recorded from a surveillance system. This work shows it is possible to massively reduce the amount of manual work in generating video keywords without limiting ourselves to a particular video feature descriptor.
Vulnerability of linear systems against sensor attacks--a system's security index
Venue: arXiv cs.SY 2016
Year: 2016

The `security index' of a discrete-time LTI system under sensor attacks is introduced as a quantitative measure on the security of an observable system. We derive ideas from error control coding theory to provide sufficient conditions for attack detection and correction.
Denoising and Covariance Estimation of Single Particle Cryo-EM Images
Venue: arXiv cs.CV 2016
Year: 2016

The problem of image restoration in cryo-EM entails correcting for the effects of the Contrast Transfer Function (CTF) and noise. Popular methods for image restoration include `phase flipping', which corrects only for the Fourier phases but not amplitudes, and Wiener filtering, which requires the spectral signal to noise ratio. We propose a new image restoration method which we call `Covariance Wiener Filtering' (CWF). In CWF, the covariance matrix of the projection images is used within the classical Wiener filtering framework for solving the image restoration deconvolution problem. Our estimation procedure for the covariance matrix is new and successfully corrects for the CTF. We demonstrate the efficacy of CWF by applying it to restore both simulated and experimental cryo-EM images. Results with experimental datasets demonstrate that CWF provides a good way to evaluate the particle images and to see what the dataset contains even without 2D classification and averaging.
Auditory System for a Mobile Robot
Venue: arXiv cs.RO 2016
Year: 2016

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to implement these capabilities using an array of microphones, without trying to imitate the human auditory system. The sound source localisation and tracking algorithm uses a steered beamformer to locate sources, which are then tracked using a multi-source particle filter. Separation of simultaneous sound sources is achieved using a variant of the Geometric Source Separation (GSS) algorithm, combined with a multi-source post-filter that further reduces noise, interference and reverberation. Speech recognition is performed on separated sources, either directly or by using Missing Feature Theory (MFT) to estimate the reliability of the speech features. The results obtained show that it is possible to track up to four simultaneous sound sources, even in noisy and reverberant environments. Real-time control of the robot following a sound source is also demonstrated. The sound source separation approach we propose is able to achieve a 13.7 dB improvement in signal-to-noise ratio compared to a single microphone when three speakers are present. In these conditions, the system demonstrates more than 80% accuracy on digit recognition, higher than most human listeners could obtain in our small case study when recognising only one of these sources. All these new capabilities will allow humans to interact more naturally with a mobile robot in real life settings.
Influencing Busy People in a Social Network
Venue: arXiv cs.SI 2016
Year: 2016

We identify influential early adopters in a social network, where individuals are resource constrained, to maximize the spread of multiple, costly behaviors. A solution to this problem is especially important for viral marketing. The problem of maximizing influence in a social network is challenging since it is computationally intractable. We make three contributions. First, propose a new model of collective behavior that incorporates individual intent, knowledge of neighbors actions and resource constraints. Second, we show that the multiple behavior influence maximization is NP-hard. Furthermore, we show that the problem is submodular, implying the existence of a greedy solution that approximates the optimal solution to within a constant. However, since the greedy algorithm is expensive for large networks, we propose efficient heuristics to identify the influential individuals, including heuristics to assign behaviors to the different early adopters. We test our approach on synthetic and real-world topologies with excellent results. We evaluate the effectiveness under three metrics: unique number of participants, total number of active behaviors and network resource utilization. Our heuristics produce 15-51% increase in expected resource utilization over the naive approach.
Improving Trajectory Modelling for DNN-based Speech Synthesis by using Stacked Bottleneck Features and Minimum Generation Error Training
Venue: arXiv cs.SD 2016
Year: 2016

We propose two novel techniques --- stacking bottleneck features and minimum generation error training criterion --- to improve the performance of deep neural network (DNN)-based speech synthesis. The techniques address the related issues of frame-by-frame independence and ignorance of the relationship between static and dynamic features, within current typical DNN-based synthesis frameworks. Stacking bottleneck features, which are an acoustically--informed linguistic representation, provides an efficient way to include more detailed linguistic context at the input. The minimum generation error training criterion minimises overall output trajectory error across an utterance, rather than minimising the error per frame independently, and thus takes into account the interaction between static and dynamic features. The two techniques can be easily combined to further improve performance. We present both objective and subjective results that demonstrate the effectiveness of the proposed techniques. The subjective results show that combining the two techniques leads to significantly more natural synthetic speech than from conventional DNN or long short-term memory (LSTM) recurrent neural network (RNN) systems.
The Matsu Wheel: A Cloud-based Framework for Efficient Analysis and Reanalysis of Earth Satellite Imagery
Venue: arXiv cs.DC 2016
Year: 2016

Project Matsu is a collaboration between the Open Commons Consortium and NASA focused on developing open source technology for the cloud-based processing of Earth satellite imagery. A particular focus is the development of applications for detecting fires and floods to help support natural disaster detection and relief. Project Matsu has developed an open source cloud-based infrastructure to process, analyze, and reanalyze large collections of hyperspectral satellite image data using OpenStack, Hadoop, MapReduce, Storm and related technologies. We describe a framework for efficient analysis of large amounts of data called the Matsu "Wheel." The Matsu Wheel is currently used to process incoming hyperspectral satellite data produced daily by NASA's Earth Observing-1 (EO-1) satellite. The framework is designed to be able to support scanning queries using cloud computing applications, such as Hadoop and Accumulo. A scanning query processes all, or most of the data, in a database or data repository. We also describe our preliminary Wheel analytics, including an anomaly detector for rare spectral signatures or thermal anomalies in hyperspectral data and a land cover classifier that can be used for water and flood detection. Each of these analytics can generate visual reports accessible via the web for the public and interested decision makers. The resultant products of the analytics are also made accessible through an Open Geospatial Compliant (OGC)-compliant Web Map Service (WMS) for further distribution. The Matsu Wheel allows many shared data services to be performed together to efficiently use resources for processing hyperspectral satellite image data and other, e.g., large environmental datasets that may be analyzed for many purposes.
A Framework for End-to-End Evaluation of 5G mmWave Cellular Networks in ns-3
Venue: arXiv cs.NI 2016
Year: 2016

The growing demand for ubiquitous mobile data services along with the scarcity of spectrum in the sub-6 GHz bands has given rise to the recent interest in developing wireless systems that can exploit the large amount of spectrum available in the millimeter wave (mmWave) frequency range. Due to its potential for multi-gigabit and ultra-low latency links, mmWave technology is expected to play a central role in 5th Generation (5G) cellular networks. Overcoming the poor radio propagation and sensitivity to blockages at higher frequencies presents major challenges, which is why much of the current research is focused at the physical layer. However, innovations will be required at all layers of the protocol stack to effectively utilize the large air link capacity and provide the end-to-end performance required by future networks. Discrete-event network simulation will be an invaluable tool for researchers to evaluate novel 5G protocols and systems from an end-to-end perspective. In this work, we present the first-of-its-kind, open-source framework for modeling mmWave cellular networks in the ns-3 simulator. Channel models are provided along with a configurable physical and MAC-layer implementation, which can be interfaced with the higher-layer protocols and core network model from the ns-3 LTE module to simulate end-to-end connectivity. The framework is demonstrated through several example simulations showing the performance of our custom mmWave stack.
Synthesis of fast multiplication algorithms for arbitrary tensors
Venue: arXiv cs.DS 2016
Year: 2016

A method of fast linear transform algorithm synthesis for an arbitrary tensor, matrix, or vector is proposed. The method is based on factorization of a tensor and using the factors for building computational structures performing fast tensor - vector multiplication on a computer or dedicated hardware platform.
Improved Bounds for Shortest Paths in Dense Distance Graphs
Venue: arXiv cs.DS 2016
Year: 2016

We study the problem of computing shortest paths in so-called dense distance graphs. Every planar graph $G$ on $n$ vertices can be partitioned into a set of $O(n/r)$ edge-disjoint regions (called an $r$-division) with $O(r)$ vertices each, such that each region has $O(\sqrt{r})$ vertices (called boundary vertices) in common with other regions. A dense distance graph of a region is a complete graph containing all-pairs distances between its boundary nodes. A dense distance graph of an $r$-division is the union of the $O(n/r)$ dense distance graphs of the individual pieces. Since the introduction of dense distance graphs by Fakcharoenphol and Rao, computing single-source shortest paths in dense distance graphs has found numerous applications in fundamental planar graph algorithms. Fakcharoenphol and Rao proposed an algorithm (later called FR-Dijkstra) for computing single-source shortest paths in a dense distance graph in $O\left(\frac{n}{\sqrt{r}}\log{n}\log{r}\right)$ time. We show an $O\left(\frac{n}{\sqrt{r}}\left(\frac{\log^2{r}}{\log^2\log{r}}+\log{n}\log^ε{r}\right)\right)$ time algorithm for this problem, which is the first improvement to date over FR-Dijkstra for the important case when $r$ is polynomial in $n$. In this case, our algorithm is faster by a factor of $O(\log^2{\log{n}})$ and implies improved upper bounds for such planar graph problems as multiple-source multiple-sink maximum flow, single-source all-sinks maximum flow, and (dynamic) exact distance oracles.
On the Spectral Efficiency of Space-Constrained Massive MIMO with Linear Receivers
Venue: arXiv cs.IT 2016
Year: 2016

In this paper, we investigate the spectral efficiency (SE) of massive multiple-input multiple-output (MIMO) systems with a large number of antennas at the base station (BS) accounting for physical space constraints. In contrast to the vast body of related literature, which considers fixed inter-element spacing, we elaborate on a practical topology in which an increase in the number of antennas in a fixed total space induces an inversely proportional decrease in the inter-antenna distance. For this scenario, we derive exact and approximate expressions, as well as simplified upper/lower bounds, for the SE of maximum-ratio combining (MRC), zero-forcing (ZF) and minimum mean-squared error receivers (MMSE) receivers. In particular, our analysis shows that the MRC receiver is non-optimal for space-constrained massive MIMO topologies. On the other hand, ZF and MMSE receivers can still deliver an increasing SE as the number of BS antennas grows large. Numerical results corroborate our analysis and show the effect of the number of antennas, the number of users, and the total antenna array space on the sum SE performance.
Effective Static and Adaptive Carrier Sensing for Dense Wireless CSMA Networks
Venue: arXiv cs.NI 2016
Year: 2016

The increasingly dense deployments of wireless CSMA networks arising from applications of Internet-of-things call for an improvement to mitigate the interference among simultaneous transmitting wireless devices. For cost efficiency and backward compatibility with legacy transceiver hardware, a simple approach to address interference is by appropriately configuring the carrier sensing thresholds in wireless CSMA protocols, particularly in dense wireless networks. Most prior studies of the configuration of carrier sensing thresholds are based on a simplified conflict graph model, whereas this paper considers a realistic signal-to-interference-and-noise ratio model. We provide a comprehensive study for two effective wireless CSMA protocols: Cumulative-interference-Power Carrier Sensing and Incremental-interference-Power Carrier Sensing, in two aspects: (1) static approach that sets a universal carrier sensing threshold to ensure interference-safe transmissions regardless of network topology, and (2) adaptive approach that adjusts the carrier sensing thresholds dynamically based on the feedback of nearby transmissions. We also provide simulation studies to evaluate the starvation ratio, fairness, and goodput of our approaches.
Quality Attributes in Practice: Contemporary Data
Venue: arXiv cs.SE 2016
Year: 2016

It is well known that the software process in place impacts the quality of the resulting product. However, the specific way in which this effect occurs is still mostly unknown and reported through anecdotes. To gather a better understanding of such relationship, a very large survey has been conducted during the last year and has been completed by more than 100 software developers and engineers from 21 countries. We have used the percentage of satisfied customers estimated by the software developers and engineers as the main dependent variable. The results evidence some interesting patterns, like that quality attribute of which customers are more satisfied appears functionality, architectural styles may not have a significant influence on quality, agile methodologies might result in happier customers, larger companies and shorter projects seems to produce better products.
Scalable Generation of Scale-free Graphs
Venue: arXiv cs.DS 2016
Year: 2016

We explain how massive instances of scale-free graphs following the Barabasi-Albert model can be generated very quickly in an embarrassingly parallel way. This makes this popular model available for studying big data graph problems. As a demonstration, we generated a Petaedge graph in less than an hour.
Level-Confluence of 3-CTRSs in Isabelle/HOL
Venue: arXiv cs.LO 2016
Year: 2016

We present an Isabelle/HOL formalization of an earlier result by Suzuki, Middeldorp, and Ida; namely that a certain class of conditional rewrite systems is level-confluent. Our formalization is basically along the lines of the original proof, from which we deviate mostly in the level of detail as well as concerning some basic definitions.
The ImageNet Shuffle: Reorganized Pre-training for Video Event Detection
Venue: arXiv cs.CV 2016
Year: 2016

This paper strives for video event detection using a representation learned from deep convolutional neural networks. Different from the leading approaches, who all learn from the 1,000 classes defined in the ImageNet Large Scale Visual Recognition Challenge, we investigate how to leverage the complete ImageNet hierarchy for pre-training deep networks. To deal with the problems of over-specific classes and classes with few images, we introduce a bottom-up and top-down approach for reorganization of the ImageNet hierarchy based on all its 21,814 classes and more than 14 million images. Experiments on the TRECVID Multimedia Event Detection 2013 and 2015 datasets show that video representations derived from the layers of a deep neural network pre-trained with our reorganized hierarchy i) improves over standard pre-training, ii) is complementary among different reorganizations, iii) maintains the benefits of fusion with other modalities, and iv) leads to state-of-the-art event detection results. The reorganized hierarchies and their derived Caffe models are publicly available at http://tinyurl.com/imagenetshuffle.