OpenRaiser/Intern-Atlas huggingface dataset:
Actuator Security Indices Based on Perfect Undetectability: Computation, Robustness, and Sensor Placement
Venue: arXiv cs.SY 2019
Year: 2019

This paper proposes an actuator security index based on the definition of perfect undetectability. This index can help a control system operator to localize the most vulnerable actuators in the networked control system, which can then be secured. Particularly, the security index of an actuator equals the minimum number of sensors and actuators that needs to be compromised, such that a perfectly undetectable attack against that actuator can be conducted. A method for computing the index for small scale networked control systems is derived, and it is shown that the index can potentially be increased by placing additional sensors. The difficulties that appear once the system is of a large scale are then outlined: the problem of calculating the index is NP--hard, the index is vulnerable to system variations, and it is based on the assumption that the attacker knows the entire model of the system. To overcome these difficulties, a robust security index is introduced. The robust index can be calculated in polynomial time, it is unaffected by the system variations, and it can be related to both limited and full model knowledge attackers. Additionally, we analyze two sensor placement problems with the objective to increase the robust indices. We show that both of these problems have submodular structures, so their suboptimal solutions with performance guarantees can be obtained in polynomial time. Finally, the theoretical developments are illustrated through numerical examples.
Building a Sustainable Structure for Research Software Engineering Activities
Venue: arXiv cs.SE 2019
Year: 2019

The profile of research software engineering has been greatly enhanced by developments at institutions around the world to form groups and communities that can support effective, sustainable development of research software. We observe, however, that there is still a long way to go to build a clear understanding about what approaches provide the best support for research software developers in different contexts, and how such understanding can be used to suggest more formal structures, models or frameworks that can help to further support the growth of research software engineering. This paper sets out some preliminary thoughts and proposes an initial high-level model based on discussions between the authors around the concept of a set of pillars representing key activities and processes that form the core structure of a successful research software engineering offering.
Koopman Performance Analysis of Nonlinear Consensus Networks
Venue: arXiv cs.SY 2019
Year: 2019

Spectral decomposition of dynamical systems is a popular methodology to investigate the fundamental qualitative and quantitative properties of these systems and their solutions. In this chapter, we consider a class of nonlinear cooperative protocols, which consist of multiple agents that are coupled together via an undirected state-dependent graph. We develop a representation of the system solution by decomposing the nonlinear system utilizing ideas from the Koopman operator theory and its spectral analysis. We use recent results on the extensions of the well-known Hartman theorem for hyperbolic systems to establish a connection between the original nonlinear dynamics and the linearized dynamics in terms of Koopman spectral properties. The expected value of the output energy of the nonlinear protocol, which is related to the notions of coherence and robustness in dynamical networks, is evaluated and characterized in terms of Koopman eigenvalues, eigenfunctions, and modes. Spectral representation of the performance measure enables us to develop algorithmic methods to assess the performance of this class of nonlinear dynamical networks as a function of their graph topology. Finally, we propose a scalable computational method for approximation of the components of the Koopman mode decomposition, which is necessary to evaluate the systemic performance measure of the nonlinear dynamic network.
Joint Status Sampling and Updating for Minimizing Age of Information in the Internet of Things
Venue: arXiv cs.IT 2019
Year: 2019

The effective operation of time-critical Internet of things (IoT) applications requires real-time reporting of fresh status information of underlying physical processes. In this paper, a real-time IoT monitoring system is considered, in which the IoT devices sample a physical process with a sampling cost and send the status packet to a given destination with an updating cost. This joint status sampling and updating process is designed to minimize the average age of information (AoI) at the destination node under an average energy cost constraint at each device. This is formulated as an infinite horizon average cost constrained Markov decision process (CMDP) and transformed into an unconstrained MDP using a Lagrangian method. For the single IoT device case, the optimal policy for the CMDP is shown to be a randomized mixture of two deterministic policies for the unconstrained MDP, which is of threshold type. Then, a structure-aware optimal algorithm to obtain the optimal policy of the CMDP is proposed and the impact of the wireless channel dynamics is studied while demonstrating that channels having a larger mean channel gain and less scattering can achieve better AoI performance. For the case of multiple IoT devices, a low-complexity distributed suboptimal policy is proposed with the updating control at the destination and the sampling control at each device. Then, an online learning algorithm is developed to obtain this policy, which can be implemented at each IoT device and requires only the local knowledge and small signaling from the destination. The proposed learning algorithm is shown to converge almost surely to the suboptimal policy. Simulation results show the structural properties of the optimal policy for the single IoT device case; and show that the proposed policy for multiple IoT devices outperforms a zero-wait baseline policy, with average AoI reductions reaching up to 33%.
Cross-Sender Bit-Mixing Coding
Venue: arXiv cs.IT 2019
Year: 2019

Scheduling to avoid packet collisions is a long-standing challenge in networking, and has become even trickier in wireless networks with multiple senders and multiple receivers. In fact, researchers have proved that even {\em perfect} scheduling can only achieve $\mathbf{R} = O(\frac{1}{\ln N})$. Here $N$ is the number of nodes in the network, and $\mathbf{R}$ is the {\em medium utilization rate}. Ideally, one would hope to achieve $\mathbf{R} = Θ(1)$, while avoiding all the complexities in scheduling. To this end, this paper proposes {\em cross-sender bit-mixing coding} ({\em BMC}), which does not rely on scheduling. Instead, users transmit simultaneously on suitably-chosen slots, and the amount of overlap in different user's slots is controlled via coding. We prove that in all possible network topologies, using BMC enables us to achieve $\mathbf{R}=Θ(1)$. We also prove that the space and time complexities of BMC encoding/decoding are all low-order polynomials.
Recurrent Neural Networks in Linguistic Theory: Revisiting Pinker and Prince (1988) and the Past Tense Debate
Venue: arXiv cs.CL 2019
Year: 2019

Can advances in NLP help advance cognitive modeling? We examine the role of artificial neural networks, the current state of the art in many common NLP tasks, by returning to a classic case study. In 1986, Rumelhart and McClelland famously introduced a neural architecture that learned to transduce English verb stems to their past tense forms. Shortly thereafter, Pinker & Prince (1988) presented a comprehensive rebuttal of many of Rumelhart and McClelland's claims. Much of the force of their attack centered on the empirical inadequacy of the Rumelhart and McClelland (1986) model. Today, however, that model is severely outmoded. We show that the Encoder-Decoder network architectures used in modern NLP systems obviate most of Pinker and Prince's criticisms without requiring any simplication of the past tense mapping problem. We suggest that the empirical performance of modern networks warrants a re-examination of their utility in linguistic and cognitive modeling.
A game-theoretic approach to timeline-based planning with uncertainty
Venue: arXiv cs.AI 2019
Year: 2019

In timeline-based planning, domains are described as sets of independent, but interacting, components, whose behaviour over time (the set of timelines) is governed by a set of temporal constraints. A distinguishing feature of timeline-based planning systems is the ability to integrate planning with execution by synthesising control strategies for flexible plans. However, flexible plans can only represent temporal uncertainty, while more complex forms of nondeterminism are needed to deal with a wider range of realistic problems. In this paper, we propose a novel game-theoretic approach to timeline-based planning problems, generalising the state of the art while uniformly handling temporal uncertainty and nondeterminism. We define a general concept of timeline-based game and we show that the notion of winning strategy for these games is strictly more general than that of control strategy for dynamically controllable flexible plans. Moreover, we show that the problem of establishing the existence of such winning strategies is decidable using a doubly exponential amount of space.
Algorithms for metric learning via contrastive embeddings
Venue: arXiv cs.CG 2019
Year: 2019

We study the problem of supervised learning a metric space under discriminative constraints. Given a universe $X$ and sets ${\cal S}, {\cal D}\subset {X \choose 2}$ of similar and dissimilar pairs, we seek to find a mapping $f:X\to Y$, into some target metric space $M=(Y,ρ)$, such that similar objects are mapped to points at distance at most $u$, and dissimilar objects are mapped to points at distance at least $\ell$. More generally, the goal is to find a mapping of maximum accuracy (that is, fraction of correctly classified pairs). We propose approximation algorithms for various versions of this problem, for the cases of Euclidean and tree metric spaces. For both of these target spaces, we obtain fully polynomial-time approximation schemes (FPTAS) for the case of perfect information. In the presence of imperfect information we present approximation algorithms that run in quasipolynomial time (QPTAS). Our algorithms use a combination of tools from metric embeddings and graph partitioning, that could be of independent interest.
Repeatability Corner Cases in Document Ranking: The Impact of Score Ties
Venue: arXiv cs.IR 2019
Year: 2019

Document ranking experiments should be repeatable. However, the interaction between multi-threaded indexing and score ties during retrieval may yield non-deterministic rankings, making repeatability not as trivial as one might imagine. In the context of the open-source Lucene search engine, score ties are broken by internal document ids, which are assigned at index time. Due to multi-threaded indexing, which makes experimentation with large modern document collections practical, internal document ids are not assigned consistently between different index instances of the same collection, and thus score ties are broken unpredictably. This short paper examines the effectiveness impact of such score ties, quantifying the variability that can be attributed to this phenomenon. The obvious solution to this non-determinism and to ensure repeatable document ranking is to break score ties using external collection document ids. This approach, however, comes with measurable efficiency costs due to the necessity of consulting external identifiers during query evaluation.
A Data-Driven Approach for Predicting Vegetation-Related Outages in Power Distribution Systems
Venue: arXiv cs.LG 2019
Year: 2019

This paper presents a novel data-driven approach for predicting the number of vegetation-related outages that occur in power distribution systems on a monthly basis. In order to develop an approach that is able to successfully fulfill this objective, there are two main challenges that ought to be addressed. The first challenge is to define the extent of the target area. An unsupervised machine learning approach is proposed to overcome this difficulty. The second challenge is to correctly identify the main causes of vegetation-related outages and to thoroughly investigate their nature. In this paper, these outages are categorized into two main groups: growth-related and weather-related outages, and two types of models, namely time series and non-linear machine learning regression models are proposed to conduct the prediction tasks, respectively. Moreover, various features that can explain the variability in vegetation-related outages are engineered and employed. Actual outage data, obtained from a major utility in the U.S., in addition to different types of weather and geographical data are utilized to build the proposed approach. Finally, by utilizing various time series models and machine learning methods, a comprehensive case study is carried out to demonstrate how the proposed approach can be used to successfully predict the number of vegetation-related outages and to help decision-makers to detect vulnerable zones in their systems.
Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision
Venue: arXiv cs.CV 2019
Year: 2019

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall realtime reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators.
Foundations for Restraining Bolts: Reinforcement Learning with LTLf/LDLf restraining specifications
Venue: arXiv cs.LG 2019
Year: 2019

In this work we investigate on the concept of "restraining bolt", envisioned in Science Fiction. Specifically we introduce a novel problem in AI. We have two distinct sets of features extracted from the world, one by the agent and one by the authority imposing restraining specifications (the "restraining bolt"). The two sets are apparently unrelated since of interest to independent parties, however they both account for (aspects of) the same world. We consider the case in which the agent is a reinforcement learning agent on the first set of features, while the restraining bolt is specified logically using linear time logic on finite traces LTLf/LDLf over the second set of features. We show formally, and illustrate with examples, that, under general circumstances, the agent can learn while shaping its goals to suitably conform (as much as possible) to the restraining bolt specifications.
Expressing Linear Orders Requires Exponential-Size DNNFs
Venue: arXiv cs.CC 2019
Year: 2019

We show that any DNNF circuit that expresses the set of linear orders over a set of $n$ candidates must be of size $2^{Ω(n)}$. Moreover, we show that there exist DNNF circuits of size $2^{O(n)}$ expressing linear orders over $n$ candidates.
Computing the Homology of Semialgebraic Sets I: Lax Formulas
Venue: arXiv cs.CG 2019
Year: 2019

We describe and analyze an algorithm for computing the homology (Betti numbers and torsion coefficients) of closed semialgebraic sets given by Boolean formulas without negations over lax polynomial inequalities. The algorithm works in weak exponential time. This means that outside a subset of data having exponentially small measure, the cost of the algorithm is single exponential in the size of the data. All previous algorithms solving this problem have doubly exponential complexity (and this is so for almost all input data). Our algorithm thus represents an exponential acceleration over state-of-the-art algorithms for all input data outside a set that vanishes exponentially fast.
Planning and Synthesis Under Assumptions
Venue: arXiv cs.LO 2019
Year: 2019

In Reasoning about Action and Planning, one synthesizes the agent plan by taking advantage of the assumption on how the environment works (that is, one exploits the environment's effects, its fairness, its trajectory constraints). In this paper we study this form of synthesis in detail. We consider assumptions as constraints on the possible strategies that the environment can have in order to respond to the agent's actions. Such constraints may be given in the form of a planning domain (or action theory), as linear-time formulas over infinite or finite runs, or as a combination of the two. We argue though that not all assumption specifications are meaningful: they need to be consistent, which means that there must exist an environment strategy fulfilling the assumption in spite of the agent actions. For such assumptions, we study how to do synthesis/planning for agent goals, ranging from a classical reachability to goal on traces specified in \LTL and \LTLf/\LDLf, characterizing the problem both mathematically and algorithmically.
Model Agnostic Saliency for Weakly Supervised Lesion Detection from Breast DCE-MRI
Venue: arXiv cs.CV 2019
Year: 2019

There is a heated debate on how to interpret the decisions provided by deep learning models (DLM), where the main approaches rely on the visualization of salient regions to interpret the DLM classification process. However, these approaches generally fail to satisfy three conditions for the problem of lesion detection from medical images: 1) for images with lesions, all salient regions should represent lesions, 2) for images containing no lesions, no salient region should be produced,and 3) lesions are generally small with relatively smooth borders. We propose a new model-agnostic paradigm to interpret DLM classification decisions supported by a novel definition of saliency that incorporates the conditions above. Our model-agnostic 1-class saliency detector (MASD) is tested on weakly supervised breast lesion detection from DCE-MRI, achieving state-of-the-art detection accuracy when compared to current visualization methods.
Distributed Federated Learning for Ultra-Reliable Low-Latency Vehicular Communications
Venue: arXiv cs.IT 2019
Year: 2019

In this paper, the problem of joint power and resource allocation (JPRA) for ultra-reliable low-latency communication (URLLC) in vehicular networks is studied. Therein, the network-wide power consumption of vehicular users (VUEs) is minimized subject to high reliability in terms of probabilistic queuing delays. Using extreme value theory, a new reliability measure is defined to characterize extreme events pertaining to vehicles' queue lengths exceeding a predefined threshold. To learn these extreme events, assuming they are independently and identically distributed over VUEs, a novel distributed approach based on federated learning (FL) is proposed to estimate the tail distribution of the queue lengths. Considering the communication delays incurred by FL over wireless links, Lyapunov optimization is used to derive the JPRA policies enabling URLLC for each VUE in a distributed manner. The proposed solution is then validated via extensive simulations using a Manhattan mobility model. Simulation results show that FL enables the proposed method to estimate the tail distribution of queues with an accuracy that is close to a centralized solution with up to 79% reductions in the amount of exchanged data. Furthermore, the proposed method yields up to 60% reductions of VUEs with large queue lengths, while reducing the average power consumption by two folds, compared to an average queue-based baseline.
Faster Exact and Approximate Algorithms for $k$-Cut
Venue: arXiv cs.DS 2019
Year: 2019

In the $k$-cut problem, we are given an edge-weighted graph $G$ and an integer $k$, and have to remove a set of edges with minimum total weight so that $G$ has at least $k$ connected components. The current best algorithms are an $O(n^{(2-o(1))k})$ randomized algorithm due to Karger and Stein, and an $\smash{\tilde{O}}(n^{2k})$ deterministic algorithm due to Thorup. Moreover, several $2$-approximation algorithms are known for the problem (due to Saran and Vazirani, Naor and Rabani, and Ravi and Sinha). It has remained an open problem to (a) improve the runtime of exact algorithms, and (b) to get better approximation algorithms. In this paper we show an $O(k^{O(k)} \, n^{(2ω/3 + o(1))k})$-time algorithm for $k$-cut. Moreover, we show an $(1+ε)$-approximation algorithm that runs in time $O((k/ε)^{O(k)} \,n^{k + O(1)})$, and a $1.81$-approximation in fixed-parameter time $O(2^{O(k^2)}\,\text{poly}(n))$.
Optimal Continuous State POMDP Planning with Semantic Observations: A Variational Approach
Venue: arXiv cs.AI 2019
Year: 2019

This work develops novel strategies for optimal planning with semantic observations using continuous state partially observable markov decision processes (CPOMDPs). Two major innovations are presented in relation to Gaussian mixture (GM) CPOMDP policy approximation methods. While existing methods have many desirable theoretical properties, they are unable to efficiently represent and reason over hybrid continuous-discrete probabilistic models. The first major innovation is the derivation of closed-form variational Bayes GM approximations of Point-Based Value Iteration Bellman policy backups, using softmax models of continuous-discrete semantic observation probabilities. A key benefit of this approach is that dynamic decision-making tasks can be performed with complex non-Gaussian uncertainties, while also exploiting continuous dynamic state space models (thus avoiding cumbersome and costly discretization). The second major innovation is a new clustering-based technique for mixture condensation that scales well to very large GM policy functions and belief functions. Simulation results for a target search and interception task with semantic observations show that the GM policies resulting from these innovations are more effective than those produced by other state of the art policy approximations, but require significantly less modeling overhead and online runtime cost. Additional results show the robustness of this approach to model errors and scaling to higher dimensions.