OpenRaiser/Intern-Atlas huggingface dataset:
Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm
Venue: arXiv cs.RO 2020
Year: 2020

The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest distance and path smoothness. The proposed path planning algorithm mimics the real world by adding the actual size of the mobile robot to that of the obstacles and formulating the problem as a moving point in the free-space. The proposed algorithm consists of three modules. The first module forms an optimized path by conducting a hybridized Particle Swarm Optimization-Modified Frequency Bat (PSO-MFB) algorithm that minimizes distance and follows path smoothness criteria. The second module detects any infeasible points generated by the proposed hybrid PSO-MFB Algorithm by a novel Local Search (LS) algorithm integrated with the hybrid PSO-MFB algorithm to be converted into feasible solutions. The third module features obstacle detection and avoidance (ODA), which is triggered when the mobile robot detects obstacles within its sensing region, allowing it to avoid collision with obstacles. The simulation results indicate that this method generates an optimal feasible path even in complex dynamic environments and thus overcomes the shortcomings of conventional approaches such as grid methods. Moreover, compared to recent path planning techniques, simulation results show that the proposed hybrid PSO-MFB algorithm is highly competitive in terms of path optimality.
SaferCross: Enhancing Pedestrian Safety Using Embedded Sensors of Smartphone
Venue: arXiv cs.CY 2020
Year: 2020

The number of pedestrian accidents continues to keep climbing. Distraction from smartphone is one of the biggest causes for pedestrian fatalities. In this paper, we develop SaferCross, a mobile system based on the embedded sensors of smartphone to improve pedestrian safety by preventing distraction from smartphone. SaferCross adopts a holistic approach by identifying and developing essential system components that are missing in existing systems and integrating the system components into a "fully-functioning" mobile system for pedestrian safety. Specifically, we create algorithms for improving the accuracy and energy efficiency of pedestrian positioning, effectiveness of phone activity detection, and real-time risk assessment. We demonstrate that SaferCross, through systematic integration of the developed algorithms, performs situation awareness effectively and provides a timely warning to the pedestrian based on the information obtained from smartphone sensors and Direct Wi-Fi-based peer-to-peer communication with approaching cars. Extensive experiments are conducted in a department parking lot for both component-level and integrated testing. The results demonstrate that the energy efficiency and positioning accuracy of SaferCross are improved by 52% and 72% on average compared with existing solutions with missing support for positioning accuracy and energy efficiency, and the phone-viewing event detection accuracy is over 90%. The integrated test results show that SaferCross alerts the pedestrian timely with an average error of 1.6sec in comparison with the ground truth data, which can be easily compensated by configuring the system to fire an alert message a couple of seconds early.
Deterministic and Randomized Actuator Scheduling With Guaranteed Performance Bounds
Venue: arXiv cs.SY 2020
Year: 2020

In this paper, we investigate the problem of actuator selection for linear dynamical systems. We develop a framework to design a sparse actuator schedule for a given large-scale linear system with guaranteed performance bounds using deterministic polynomial-time and randomized approximately linear-time algorithms. First, we introduce systemic controllability metrics for linear dynamical systems that are monotone and homogeneous with respect to the controllability Gramian. We show that several popular and widely used optimization criteria in the literature belong to this class of controllability metrics. Our main result is to provide a polynomial-time actuator schedule that on average selects only a constant number of actuators at each time step, independent of the dimension, to furnish a guaranteed approximation of the controllability metrics in comparison to when all actuators are in use. Our results naturally apply to the dual problem of sensor selection, in which we provide a guaranteed approximation to the observability Gramian. We illustrate the effectiveness of our theoretical findings via several numerical simulations using benchmark examples.
A Data-Driven Residential Transformer Overloading Risk Assessment Method
Venue: arXiv cs.CE 2020
Year: 2020

Residential transformer population is a critical type of asset that many electric utility companies have been attempting to manage proactively and effectively to reduce unexpected failures and life losses that are often caused by transformer overloading. Within the typical power asset portfolio, the residential transformer asset is often large in population, having lowest reliability design, lacking transformer loading data and susceptible to customer loading behaviors such as adoption of distributed energy resources and electric vehicles. On the bright side, the availability of more residential operation data along with the advancement of data analytics techniques have provided a new path to further our understanding of local residential transformer overloading risks statistically. This research developed a new data-driven method to combine clustering analysis and the simulation of transformer temperature rise and insulation life loss to quantitatively and statistically assess the overloading risk of residential transformer population in one area and suggest proper risk management measures according to the assessment results. Case studies from an actual Canadian utility company have been presented and discussed in detail to demonstrate the applicability and usefulness of the proposed method.
Spiking Deep Residual Network
Venue: arXiv cs.NE 2020
Year: 2020

Spiking neural networks (SNNs) have received significant attention for their biological plausibility. SNNs theoretically have at least the same computational power as traditional artificial neural networks (ANNs). They possess potential of achieving energy-efficiency while keeping comparable performance to deep neural networks (DNNs). However, it is still a big challenge to train a very deep SNN. In this paper, we propose an efficient approach to build a spiking version of deep residual network (ResNet). ResNet is considered as a kind of the state-of-the-art convolutional neural networks (CNNs). We employ the idea of converting a trained ResNet to a network of spiking neurons, named Spiking ResNet (S-ResNet). We propose a shortcut conversion model to appropriately scale continuous-valued activations to match firing rates in SNN, and a compensation mechanism to reduce the error caused by discretisation. Experimental results demonstrate that, compared with the state-of-the-art SNN approaches, the proposed Spiking ResNet achieves the best performance on CIFAR-10, CIFAR-100, and ImageNet 2012. Our work is the first time to build a SNN deeper than 40, with comparable performance to ANNs on a large-scale dataset.
EventKG+TL: Creating Cross-Lingual Timelines from an Event-Centric Knowledge Graph
Venue: arXiv cs.IR 2020
Year: 2020

The provision of multilingual event-centric temporal knowledge graphs such as EventKG enables structured access to representations of a large number of historical and contemporary events in a variety of language contexts. Timelines provide an intuitive way to facilitate an overview of events related to a query entity - i.e., an entity or an event of user interest - over a certain period of time. In this paper, we present EventKG+TL - a novel system that generates cross-lingual event timelines using EventKG and facilitates an overview of the language-specific event relevance and popularity along with the cross-lingual differences.
Single-Anchor Two-Way Localization Bounds for 5G mmWave Systems
Venue: arXiv cs.IT 2020
Year: 2020

Recently, millimeter-wave (mmWave) 5G localization has been shown to be to provide centimeter-level accuracy, lending itself to many location-aware applications, e.g., connected autonomous vehicles (CAVs). One assumption usually made in the investigation of localization methods is that the user equipment (UE), i.e., a CAV, and the base station (BS) are {time} synchronized. In this paper, we remove this assumption and investigate two two-way localization protocols: (i) a round-trip localization protocol (RLP), whereby the BS and UE exchange signals in two rounds of transmission and then localization is achieved using the signal received in the second round; (ii) a collaborative localization protocol (CLP), whereby localization is achieved using the signals received in the two rounds. We derive the position and orientation error bounds applying beamforming at both ends and compare them to the traditional one-way localization. Our results show that mmWave localization is mainly limited by the angular rather than the temporal estimation and that CLP significantly outperforms RLP. Our simulations also show that it is more beneficial to have more antennas at the BS than at the UE.
De Bruijn Sequences: From Games to Shift-Rules to a Proof of the Fredricksen-Kessler-Maiorana Theorem
Venue: arXiv cs.DM 2020
Year: 2020

We present a combinatorial game and propose efficiently computable optimal strategies. We then show how these strategies can be translated to efficiently computable shift-rules for the well known prefer-max and prefer-min De Bruijn sequences, in both forward and backward directions. Using these shift-rules, we provide a new proof of the well known theorem by Fredricksen, Kessler, and Maiorana on De Bruijn sequences and Lyndon words.
Stealthy Communication over Adversarially Jammed Multipath Networks
Venue: arXiv cs.IT 2020
Year: 2020

We consider the problem of stealthy communication over a multipath network in the presence of an active adversary. The multipath network consists of multiple parallel noiseless links, and the adversary is able to eavesdrop and jam a subset of links. We consider two types of jamming---erasure jamming and overwrite jamming. We require the communication to be both stealthy and reliable, i.e., the adversary should be unable to detect whether or not meaningful communication is taking place, while the legitimate receiver should reconstruct any potential messages from the transmitter with high probability simultaneously. We provide inner bounds on the stealthy capacities under both adversarial erasure and adversarial overwrite jamming.
Communication Complexity of Byzantine Agreement, Revisited
Venue: arXiv cs.DC 2020
Year: 2020

As Byzantine Agreement (BA) protocols find application in large-scale decentralized cryptocurrencies, an increasingly important problem is to design BA protocols with improved communication complexity. A few existing works have shown how to achieve subquadratic BA under an {\it adaptive} adversary. Intriguingly, they all make a common relaxation about the adaptivity of the attacker, that is, if an honest node sends a message and then gets corrupted in some round, the adversary {\it cannot erase the message that was already sent} --- henceforth we say that such an adversary cannot perform "after-the-fact removal". By contrast, many (super-)quadratic BA protocols in the literature can tolerate after-the-fact removal. In this paper, we first prove that disallowing after-the-fact removal is necessary for achieving subquadratic-communication BA. Next, we show new subquadratic binary BA constructions (of course, assuming no after-the-fact removal) that achieves near-optimal resilience and expected constant rounds under standard cryptographic assumptions and a public-key infrastructure (PKI) in both synchronous and partially synchronous settings. In comparison, all known subquadratic protocols make additional strong assumptions such as random oracles or the ability of honest nodes to erase secrets from memory, and even with these strong assumptions, no prior work can achieve the above properties. Lastly, we show that some setup assumption is necessary for achieving subquadratic multicast-based BA.
Resisting Large Data Variations via Introspective Transformation Network
Venue: arXiv cs.CV 2020
Year: 2020

Training deep networks that generalize to a wide range of variations in test data is essential to building accurate and robust image classifiers. One standard strategy is to apply data augmentation to synthetically enlarge the training set. However, data augmentation is essentially a brute-force method which generates uniform samples from some pre-defined set of transformations. In this paper, we propose a principled approach to train networks with significantly improved resistance to large variations between training and testing data. This is achieved by embedding a learnable transformation module into the introspective network, which is a convolutional neural network (CNN) classifier empowered with generative capabilities. Our approach alternates between synthesizing pseudo-negative samples and transformed positive examples based on the current model, and optimizing model predictions on these synthesized samples. Experimental results verify that our approach significantly improves the ability of deep networks to resist large variations between training and testing data and achieves classification accuracy improvements on several benchmark datasets, including MNIST, affNIST, SVHN, CIFAR-10 and miniImageNet.
Transformations of High-Level Synthesis Codes for High-Performance Computing
Venue: arXiv cs.DC 2020
Year: 2020

Spatial computing architectures promise a major stride in performance and energy efficiency over the traditional load/store devices currently employed in large scale computing systems. The adoption of high-level synthesis (HLS) from languages such as C++ and OpenCL has greatly increased programmer productivity when designing for such platforms. While this has enabled a wider audience to target spatial computing architectures, the optimization principles known from traditional software design are no longer sufficient to implement high-performance codes, due to fundamentally distinct aspects of hardware design, such as programming for deep pipelines, distributed memory resources, and scalable routing. To alleviate this, we present a collection of optimizing transformations for HLS, targeting scalable and efficient architectures for high-performance computing (HPC) applications. We systematically identify classes of transformations (pipelining, scalability, and memory), the characteristics of their effect on the HLS code and the resulting hardware (e.g., increasing data reuse or resource consumption), and the objectives that each transformation can target (e.g., resolve interface contention, or increase parallelism). We show how these can be used to efficiently exploit pipelining, on-chip distributed fast memory, and on-chip dataflow, allowing for massively parallel architectures. To quantify the effect of various transformations, we cover the optimization process of a sample set of HPC kernels, provided as open source reference codes. We aim to establish a common toolbox to guide both performance engineers and compiler engineers in tapping into the performance potential offered by spatial computing architectures using HLS.
Super-stability in the Student-Project Allocation Problem with Ties
Venue: arXiv cs.DS 2020
Year: 2020

The Student-Project Allocation problem with lecturer preferences over Students (SPA-S) involves assigning students to projects based on student preferences over projects, lecturer preferences over students, and the maximum number of students that each project and lecturer can accommodate. This classical model assumes that each project is offered by one lecturer and that preference lists are strictly ordered. Here, we study a generalisation of SPA-S where ties are allowed in the preference lists of students and lecturers, which we refer to as the Student-Project Allocation problem with lecturer preferences over Students with Ties (SPA-ST). We investigate stable matchings under the most robust definition of stability in this context, namely super-stability. We describe the first polynomial-time algorithm to find a super-stable matching or to report that no such matching exists, given an instance of SPA-ST. Our algorithm runs in $O(L)$ time, where $L$ is the total length of all the preference lists. Finally, we present results obtained from an empirical evaluation of the linear-time algorithm based on randomly-generated SPA-ST instances. Our main finding is that, whilst super-stable matchings can be elusive when ties are present in the students' and lecturers' preference lists, the probability of such a matching existing is significantly higher if ties are restricted to the lecturers' preference lists.
A Generalized Modality for Recursion
Venue: arXiv cs.PL 2020
Year: 2020

Nakano's later modality allows types to express that the output of a function does not immediately depend on its input, and thus that computing its fixpoint is safe. This idea, guarded recursion, has proved useful in various contexts, from functional programming with infinite data structures to formulations of step-indexing internal to type theory. Categorical models have revealed that the later modality corresponds in essence to a simple reindexing of the discrete time scale. Unfortunately, existing guarded type theories suffer from significant limitations for programming purposes. These limitations stem from the fact that the later modality is not expressive enough to capture precise input-output dependencies of functions. As a consequence, guarded type theories reject many productive definitions. Combining insights from guarded type theories and synchronous programming languages, we propose a new modality for guarded recursion. This modality can apply any well-behaved reindexing of the time scale to a type. We call such reindexings time warps. Several modalities from the literature, including later, correspond to fixed time warps, and thus arise as special cases of ours.
The Differential Entropy of Mixtures: New Bounds and Applications
Venue: arXiv cs.IT 2020
Year: 2020

Mixture distributions are extensively used as a modeling tool in diverse areas from machine learning to communications engineering to physics, and obtaining bounds on the entropy of probability distributions is of fundamental importance in many of these applications. This article provides sharp bounds on the entropy concavity deficit, which is the difference between the entropy of the mixture and the weighted sum of entropies of constituent components. Toward establishing lower and upper bounds on the concavity deficit, results that are of importance in their own right are obtained. In order to obtain nontrivial upper bounds, properties of the skew-divergence are developed and notions of "skew" $f$-divergences are introduced; a reverse Pinsker inequality and a bound on Jensen-Shannon divergence are obtained along the way. Complementary lower bounds are derived with special attention paid to the case that corresponds to independent summation of a continuous and a discrete random variable. Several applications of the bounds are delineated, including to mutual information of additive noise channels, thermodynamics of computation, and functional inequalities.
Closed Form Word Embedding Alignment
Venue: arXiv cs.CL 2020
Year: 2020

We develop a family of techniques to align word embeddings which are derived from different source datasets or created using different mechanisms (e.g., GloVe or word2vec). Our methods are simple and have a closed form to optimally rotate, translate, and scale to minimize root mean squared errors or maximize the average cosine similarity between two embeddings of the same vocabulary into the same dimensional space. Our methods extend approaches known as Absolute Orientation, which are popular for aligning objects in three-dimensions, and generalize an approach by Smith etal (ICLR 2017). We prove new results for optimal scaling and for maximizing cosine similarity. Then we demonstrate how to evaluate the similarity of embeddings from different sources or mechanisms, and that certain properties like synonyms and analogies are preserved across the embeddings and can be enhanced by simply aligning and averaging ensembles of embeddings.
Positive Aging Admits Fast Asynchronous Plurality Consensus
Venue: arXiv cs.DC 2020
Year: 2020

We study distributed plurality consensus among $n$ nodes, each of which initially holds one of $k$ opinions. The goal is to eventually agree on the initially dominant opinion. We consider an asynchronous communication model in which each node is equipped with a random clock. Whenever the clock of a node ticks, it may open communication channels to a constant number of other nodes, chosen uniformly at random or from a list of constantly many addresses acquired in previous steps. The tick rates and the delays for establishing communication channels (channel delays) follow some probability distribution. Once a channel is established, communication between nodes can be performed instantaneously. We consider distributions for the waiting times between ticks and channel delays that have constant mean and the so-called positive aging property. In this setting, asynchronous plurality consensus is fast: if the initial bias between the largest and second largest opinion is at least $\sqrt{n}\log n$, then after $O(\log\log_αk\cdot\log k+\log\log n)$ time all but a $1/ \text{polylog } n$ fraction of nodes have the initial plurality opinion. Here $α$ denotes the initial ratio between the largest and second largest opinion. After additional $O(\log n)$ steps all nodes have the same opinion w.h.p., and this result is tight. If additionally the distributions satisfy a certain density property, which is common in many well-known distributions, we show that consensus is reached in $O(\log \log_αk + \log \log n)$ time for all but $n/\text{polylog } n$ nodes, w.h.p. This implies that for a large range of initial configurations partial consensus can be reached significantly faster in this asynchronous communication model than in the synchronous setting.