We're doing it live: A multi-method empirical study on continuous experimentation

Context: Continuous experimentation guides development activities based on data collected on a subset of online users on a new experimental version of the software. It includes practices such as canary releases, gradual rollouts, dark launches, or A/B testing. Objective: Unfortunately, our knowledge of continuous experimentation is currently primarily based on well-known and outspoken industrial leaders. To assess the actual state of practice in continuous experimentation, we conducted a mixed-method empirical study. Method: In our empirical study consisting of four steps, we interviewed 31 developers or release engineers, and performed a survey that attracted 187 complete responses. We analyzed the resulting data using statistical analysis and open coding. Results: Our results lead to several conclusions: (1) from a software architecture perspective, continuous experimentation is especially enabled by architectures that foster independently deployable services, such as microservices-based architectures; (2) from a developer perspective, experiments require extensive monitoring and analytics to discover runtime problems, consequently leading to developer on call policies and influencing the role and skill sets required by developers; and (3) from a process perspective, many organizations conduct experiments based on intuition rather than clear guidelines and robust statistics. Conclusion: Our findings show that more principled and structured approaches for release decision making are needed, striving for highly automated, systematic, and dataand hypothesis-driven deployment and experimentation.


EAF2- A Framework for Categorizing Enterprise Architecture Frameworks

What constitutes an enterprise architecture framework is a contested subject. The contents of present enterprise architecture frameworks thus differ substantially. This paper aims to alleviate the confusion regarding which framework contains what by proposing a meta framework for enterprise architecture frameworks. By using this meta framework, decision makers are able to express their requirements on what their enterprise architecture framework must contain and also to evaluate whether the existing frameworks meets these requirements. An example classification of common EA frameworks illustrates the approach.


Vacant parking space detector for outdoor parking lot by using surveillance camera and FCM classifier

The most prevailing approach now for parking lot vacancy detecting system is to use sensor-based techniques. The main impediments to the camera-based system in applying to parking lots on rooftop and outside building are the glaring sun light and dark shadows in the daytime, and low-light intensity and back-lighting in the nighttime. To date, no camera-based detecting systems for outdoor parking lots have been in practical use. A few engineering firms provide the camera-based system, which is only for underground and indoor parking lots. This paper reports on the new camera based system called ParkLotD for detecting vacancy/occupancy in parking lots. ParkLotD uses a classifier based on fuzzy c-means (FCM) clustering and hyper-parameter tuning by particle swarm optimization (PSO). The test result of the detection error rate for the indoor multi-story parking lot has improved by an order of magnitude compared to the current system based on the edge detection approach. ParkLotD demonstrates high detection performance and enables the camera-based system to achieve the practical use in outdoor parking lots.


System Design of a 77 GHz Automotive Radar Sensor with Superresolution DOA Estimation

This paper introduces a novel 77 GHz FMCW automotive long range radar (LRR) system concept. High resolution direction of arrival (DOA) estimation is an important requirement for the application in automotive safety systems. The challenges in system design regarding low cost and superresolution signal processing are discussed. Dominant interferences to the MUSIC DOA estimator are amplitude and phase mismatches due to inhomogeneous antenna patterns. System simulation results deliver design guidelines for the required signal-to-noise ratio (SNR) and the antenna design. Road traffic measurements with a demonstrator system show superior DOA resolution and demonstrate the feasibility of the design goals.


Automotive Radar – Status and Trends

The paper gives a brief overview of automotive radar. The status of the frequency regulation for short and long range radar is summarized because of its importance for car manufacturers and their sensor suppliers. Front end concepts and antenna techniques of 24 GHz and 77 GHz sensors are briefly described. Their impact on the sensor’s field of view and on the angular measurement capability is discussed. Esp. digital beamforming concepts are considered and promising results are presented.


Multiple Emitter Location and Signal Parameter-- Estimation


Proposal of millimeter-wave holographic radar with antenna switching

This paper proposes a millimeter-wave holographic radar with a simple structure for automotive applications. The simplicity can be realized by switching both transmitting antennas and receiving antennas. Also, a super resolution technique is introduced for the detection of angular positions in the proposed radar. The radar developed experimentally has accomplished an azimuthal angular resolution of less than 2 degrees and an azimuthal field of view (FoV) of more than 20 degrees simultaneously.


Planning and Control for Collision-Free Cooperative Aerial Transportation

This paper presents planning and control synthesis for multiple aerial manipulators to transport a common object. Each aerial manipulator that consists of a hexacopter and a two-degree-of-freedom robotic arm is controlled by an augmented adaptive sliding mode controller based on a closed-chain robot dynamics. We propose a motion planning algorithm by exploiting rapidly exploring random tree star (RRT*) and dynamic movement primitives (DMPs). The desired path for each aerial manipulator is obtained by using RRT* with Bezier curve, which is designed to handle environmental obstacles, such as buildings or equipments. During aerial transportation, to avoid unknown obstacle, DMPs modify the trajectory based on the virtual leader–follower structure. By the combination of RRT* and DMPs, the cooperative aerial manipulators can carry a common object to keep reducing the interaction force between multiple robots while avoiding an obstacle in the unstructured environment. To validate the proposed planning and control synthesis, two experiments with multiple custom-made aerial manipulators are presented, which involve user-guided trajectory and RRT*-planned trajectory tracking in unstructured environments.Note to Practitioners—This paper presents a viable approach to autonomous aerial transportation using multiple aerial manipulators equipped with a multidegree-of-freedom robotic arm. Existing approaches for cooperative manipulation based on force decomposition or impedance-based control often require a heavy or expensive force/torque sensor. However, this paper suggests a method without using a heavy or expensive force/torque sensor based on closed-chain dynamics in joint space and rapidly exploring random tree star (RRT*) that generates the desired trajectory of aerial manipulators. Unlike conventional RRT*, in this paper, our method can also avoid an unknown moving obstacle during aerial transportation by exploiting RRT* and dynamic movement primitives. The proposed planning and control synthesis is tested to demonstrate performance in a lab environment with two custom-made aerial manipulators and a common object.


Reliable Client Accounting for P2P-Infrastructure Hybrids

Content distribution networks (CDNs) have started to adopt hybrid designs, which employ both dedicated edge servers and resources contributed by clients. Hybrid designs combine many of the advantages of infrastructurebased and peer-to-peer systems, but they also present new challenges. This paper identifies reliable client accounting as one such challenge. Operators of hybrid CDNs are accountable to their customers (i.e., content providers) for the CDN’s performance. Therefore, they need to offer reliable quality of service and a detailed account of content served. Service quality and accurate accounting, however, depend in part on interactions among untrusted clients. Using the Akamai NetSession client network in a case study, we demonstrate that a small number of malicious clients used in a clever attack could cause significant accounting inaccuracies. We present a method for providing reliable accounting of client interactions in hybrid CDNs. The proposed method leverages the unique characteristics of hybrid systems to limit the loss of accounting accuracy and service quality caused by faulty or compromised clients. We also describe RCA, a system that applies this method to a commercial hybrid content-distribution network. Using trace-driven simulations, we show that RCA can detect and mitigate a variety of attacks, at the expense of a moderate increase in logging overhead.


A survey of appearance models in visual object tracking

Visual object tracking is a significant computer vision task which can be applied to many domains, such as visual surveillance, human computer interaction, and video compression. Despite extensive research on this topic, it still suffers from difficulties in handling complex object appearance changes caused by factors such as illumination variation, partial occlusion, shape deformation, and camera motion. Therefore, effective modeling of the 2D appearance of tracked objects is a key issue for the success of a visual tracker. In the literature, researchers have proposed a variety of 2D appearance models.
 To help readers swiftly learn the recent advances in 2D appearance models for visual object tracking, we contribute this survey, which provides a detailed review of the existing 2D appearance models. In particular, this survey takes a module-based architecture that enables readers to easily grasp the key points of visual object tracking. In this survey, we first decompose the problem of appearance modeling into two different processing stages: visual representation and statistical modeling. Then, different 2D appearance models are categorized and discussed with respect to their composition modules. Finally, we address several issues of interest as well as the remaining challenges for future research on this topic.
 The contributions of this survey are fourfold. First, we review the literature of visual representations according to their feature-construction mechanisms (i.e., local and global). Second, the existing statistical modeling schemes for tracking-by-detection are reviewed according to their model-construction mechanisms: generative, discriminative, and hybrid generative-discriminative. Third, each type of visual representations or statistical modeling techniques is analyzed and discussed from a theoretical or practical viewpoint. Fourth, the existing benchmark resources (e.g., source codes and video datasets) are examined in this survey.


Polarization imaging reflectometry in the wild

We present a novel approach for on-site acquisition of surface reflectance for planar, spatially varying, isotropic samples in uncontrolled outdoor environments. Our method exploits the naturally occurring linear polarization of incident and reflected illumination for this purpose. By rotating a linear polarizing filter in front of a camera at three different orientations, we measure the polarization reflected off the sample and combine this information with multi-view analysis and inverse rendering in order to recover per-pixel, high resolution reflectance and surface normal maps. Specifically, we employ polarization imaging from two near orthogonal views close to the Brewster angle of incidence in order to maximize polarization cues for surface reflectance estimation. To the best of our knowledge, our method is the first to successfully extract a complete set of reflectance parameters with passive capture in completely uncontrolled outdoor settings. To this end, we analyze our approach under the general, but previously unstudied, case of incident partial linear polarization (due to the sky) in order to identify the strengths and weaknesses of the method under various outdoor conditions. We provide practical guidelines for on-site acquisition based on our analysis, and demonstrate high quality results with an entry level DSLR as well as a mobile phone.


Product platform design and customization: Status and promise

In an effort to improve customization for today’s highly competitive global marketplace, many companies are utilizing product families and platform-based product development to increase variety, shorten lead times, and reduce costs. The key to a successful product family is the product platform from which it is derived either by adding, removing, or substituting one or more modules to the platform or by scaling the platform in one or more dimensions to target specific market niches. This nascent field of engineering design has matured rapidly in the past decade, and this paper provides a comprehensive review of the flurry of research activity that has occurred during that time to facilitate product family design and platform-based product development for mass customization. Techniques for identifying platform leveraging strategies within a product family are reviewed along with metrics for assessing the effectiveness of product platforms and product families. Special emphasis is placed on optimization approaches and artificial intelligence techniques to assist in the process of product family design and platform-based product development. Web-based systems for product platform customization are also discussed. Examples from both industry and academia are presented throughout the paper to highlight the benefits of product families and product platforms. The paper concludes with a discussion of potential areas of research to help bridge the gap between planning and managing families of products and designing and manufacturing them.


WebWitness: Investigating, Categorizing, and Mitigating Malware Download Paths

Most modern malware download attacks occur via the browser, typically due to social engineering and driveby downloads. In this paper, we study the “origin” of malware download attacks experienced by real network users, with the objective of improving malware download defenses. Specifically, we study the web paths followed by users who eventually fall victim to different types of malware downloads. To this end, we propose a novel incident investigation system, named WebWitness. Our system targets two main goals: 1) automatically trace back and label the sequence of events (e.g., visited web pages) preceding malware downloads, to highlight how users reach attack pages on the web; and 2) leverage these automatically labeled in-the-wild malware download paths to better understand current attack trends, and to develop more effective defenses. We deployed WebWitness on a large academic network for a period of ten months, where we collected and categorized thousands of live malicious download paths. An analysis of this labeled data allowed us to design a new defense against drive-by downloads that rely on injecting malicious content into (hacked) legitimate web pages. For example, we show that by leveraging the incident investigation information output by WebWitness we can decrease the infection rate for this type of drive-by downloads by almost six times, on average, compared to existing URL blacklisting approaches.


Speech recognition in adverse conditions : A review

Speech recognition in adverse conditions: A review Sven L. Mattys a , Matthew H. Davis b , Ann R. Bradlow c & Sophie K. Scott d a Department of Psychology, University of York, York, UK b Medical Research Council, Cognition and Brain Sciences Unit, Cambridge, UK c Department of Linguistics, Northwestern University, Evanston, IL, USA d Institute of Cognitive Neuroscience, University College London, London, UK


3D free-form surface registration and object recognition

A new technique to recognise 3D free-form objects via registration is proposed. This technique attempts to register a free-form surface, represented by a set of % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaaGOmamaala% aabaGaaGymaaqaaiaaikdaaaGaamiraaaa!38F8!\[2\frac{1}{2}D\] sensed data points, to the model surface, represented by another set of % MathType!MTEF!2!1!+-% feaafeart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9Lq-Jc9% vqaqpepm0xbba9pwe9Q8fs0-yqaqpepae9pg0FirpepeKkFr0xfr-x% fr-xb9adbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaaGOmamaala% aabaGaaGymaaqaaiaaikdaaaGaamiraaaa!38F8!\[2\frac{1}{2}D\] model data points, without prior knowledge of correspondence or view points between the two point sets. With an initial assumption that the sensed surface be part of a more complete model surface, the algorithm begins by selecting three dispersed, reliable points on the sensed surface. To find the three corresponding model points, the method uses the principal curvatures and the Darboux frames to restrict the search over the model space. Invariably, many possible model 3-typles will be found. For each hypothesized model 3-tuple, the transformation to match the sensed 3-tuple to the model 3-tuple can be determined. A heuristic search is proposed to single out the optimal transformation in low order time. For realistic object recognition or registration, where the two range images are often extracted from different view points of the model, the earlier assumption that the sensed surface be part of a more complete model surface cannot be relied on. With this, the sensed 3-tuple must be chosen such that the three sensed points lie on the common region visible to both the sensed and model views. We propose an algorithm to select a minimal non-redundant set of 3-tuples such that at least one of the 3-tuples will lie on the overlap. Applying the previous algorithm to each 3-tuple within this set, the optimal transformation can be determined. Experiments using data obtained from a range finder have indicated fast registration for relatively complex test cases. If the optimal registrations between the sensed data (candidate) and each of a set of model data are found, then, for 3D object recognition purposes, the minimal best fit error can be used as the decision rule.


Multi-Prediction Deep Boltzmann Machines

We introduce the multi-prediction deep Boltzmann machine (MP-DBM). The MPDBM can be seen as a single probabilistic model trained to maximize a variational approximation to the generalized pseudolikelihood, or as a family of recurrent nets that share parameters and approximately solve different inference problems. Prior methods of training DBMs either do not perform well on classification tasks or require an initial learning pass that trains the DBM greedily, one layer at a time. The MP-DBM does not require greedy layerwise pretraining, and outperforms the standard DBM at classification, classification with missing inputs, and mean field prediction tasks.1


A Modified CFOA and Its Applications to Simulated Inductors, Capacitance Multipliers, and Analog Filters

In this paper, using a minimum number of passive components, i.e., new grounded and floating inductance simulators, grounded capacitance multipliers, and frequency-dependent negative resistors (FDNRs) based on one/two modified current-feedback operational amplifiers (MCFOAs), are proposed. The type of the simulators depends on the passive element selection used in the structure of the circuit without requiring critical active and passive component-matching conditions and/or cancellation constraints. In order to show the flexibility of the proposed MCFOA, a single-input three-output (SITO) voltage-mode (VM) filter, two three-input single-output (TISO) VM filters, and an SITO current-mode (CM) filter employing a single MCFOA are reported. The layout of the proposed MCFOA is also given. A number of simulations using the SPICE program and some experimental tests are performed to exhibit the performance of the introduced structures.


Data Structures for Traveling Salesmen

The choice of data structure for tour representation plays a critical role in the efficiency of local improvement heuristics for the Traveling Salesman Problem. The tour data structure must permit queries about the relative order of cities in the current tour and must allow sections of the tour to be reversed. The traditional array-based representation of a tour permits the relative order of cities to be determined in small constant time, but requires worst-case Ω(N) time (where N is the number of cities) to implement a reversal, which renders it impractical for large instances. This paper considers alternative tour data structures, examining them from both a theoretical and experimental point of view. The first alternative we consider is a data structure based on splay trees, where all queries and updates take amortized time O( logN). We show that this is close to the best possible, because in the cell probe model of computation any data structure must take worst-case amortized time Ω( logN /log logN) per operation. Empirically (for random Euclidean instances), splay trees overcome their large constant-factor overhead and catch up to arrays by N = 10 , 000, pulling ahead by a factor of 4-10 (depending on machine) when N = 100 , 000. Two alternative tree-based data structures do even better in this range, however. Although both are asymptotically inferior to the splay tree representation, the latter does not appear to pull even with them until N ∼ 1 , 000 , 000. ________________ 1 Rutgers University, New Brunswick, NJ 08903, and University of California at San Diego, La Jolla, CA 92093 2 Room 2D-150, AT&T Bell Laboratories, Murray Hill, NJ 07974 3 Department of Mathematics and Computer Science, Amherst College, Amherst, MA 01002 4 Department of Mathematics, Rutgers University, New Brunswick, NJ 08903 * A preliminary version of this paper appeared under the same title in Proceedings 4th Ann. ACM-SIAM Symp. on Discrete Algorithms (1993), 145-154.


An Operating System for the Home

Network devices for the home such as remotely controllable locks, lights, thermostats, cameras, and motion sensors are now readily available and inexpensive. In theory, this enables scenarios like remotely monitoring cameras from a smartphone or customizing climate control based on occupancy patterns. However, in practice today, such smarthome scenarios are limited to expert hobbyists and the rich because of the high overhead of managing and extending current technology. We present HomeOS, a platform that bridges this gap by presenting users and developers with a PC-like abstraction for technology in the home. It presents network devices as peripherals with abstract interfaces, enables cross-device tasks via applications written against these interfaces, and gives users a management interface designed for the home environment. HomeOS already has tens of applications and supports a wide range of devices. It has been running in 12 real homes for 4–8 months, and 42 students have built new applications and added support for additional devices independent of our efforts.


How do training and competition workloads relate to injury? The workload-injury aetiology model.

Injury aetiology models that have evolved over the previous two decades highlight a number of factors which contribute to the causal mechanisms for athletic injuries. These models highlight the pathway to injury, including (1) internal risk factors (eg, age, neuromuscular control) which predispose athletes to injury, (2) exposure to external risk factors (eg, playing surface, equipment), and finally (3) an inciting event, wherein biomechanical breakdown and injury occurs. The most recent aetiological model proposed in 2007 was the first to detail the dynamic nature of injury risk, whereby participation may or may not result in injury, and participation itself alters injury risk through adaptation. However, although training and competition workloads are strongly associated with injury, existing aetiology models neither include them nor provide an explanation for how workloads alter injury risk. Therefore, we propose an updated injury aetiology model which includes the effects of workloads. Within this model, internal risk factors are differentiated into modifiable and non-modifiable factors, and workloads contribute to injury in three ways: (1) exposure to external risk factors and potential inciting events, (2) fatigue, or negative physiological effects, and (3) fitness, or positive physiological adaptations. Exposure is determined solely by total load, while positive and negative adaptations are controlled both by total workloads, as well as changes in load (eg, the acute:chronic workload ratio). Finally, we describe how this model explains the load-injury relationships for total workloads, acute:chronic workload ratios and the training load-injury paradox.


Comparing and Aligning Process Representations

Processes within organizations can be highly complex chains of inter-related steps, involving numerous stakeholders and information systems. Due to this complexity, having access to the right information is vital to the proper execution and effective management of an organization’s business processes. A major challenge in this regard is that information on a single process is often spread out over numerous models, documents, and systems. This phenomenon results from efforts to provide a variety of process stakeholders with the information that is relevant to them, in a suitable format. However, this disintegration of process information also has considerable disadvantages for organizations. In particular, it can lead to severe maintenance issues, reduced execution efficiency, and negative effects on the quality of process results. Against this background, this doctoral thesis focuses on the spread of process information in organizations and, in particular, on the mitigation of the negative aspects associated with this phenomenon. The main contributions of this thesis are five techniques that focus on the alignment and comparison of process information from different informational artifacts. Each of these techniques tackles a specific scenario involving multiple informational artifacts that contain process information in different representation formats. Among others, we present automated techniques for the detection of inconsistencies between process models and textual process descriptions, the alignment of process performance measurements to process models, conformance-checking in the context of uncertainty, and the matching of process models through the analysis of event-log information. We demonstrate the efficacy and usefulness of these techniques through quantitative evaluations involving data obtained from real-world settings. Altogether, the presented work provides important contributions for the analysis, comparison, and alignment of process information in various representation formats through the development of novel concepts and techniques. The contributions, furthermore, provide a means for organizations to improve the efficiency and quality of their processes.


Variability of Worked Examples and Transfer of Geometrical Problem-Solving Skills : A Cognitive-Load Approach

Four computer-based training strategies for geometrical problem solving in the domain of computer numerically controlled machinery programming were studied with regard to their effects on training performance, transfer performance, and cognitive load. A lowand a high-variability conventional condition, in which conventional practice problems had to be solved (followed by worked examples), were compared with a lowand a high-variability worked condition, in which worked examples had to be studied. Results showed that students who studied worked examples gained most from high-variability examples, invested less time and mental effort in practice, and attained better and less effort-demanding transfer performance than students who first attempted to solve conventional problems and then studied work examples.


Comparison of the Hardware Performance of the AES Candidates Using Reconfigurable Hardware

The results of implementations of all five AES finalists using Xilinx Field Programmable Gate Arrays are presented and analyzed. Performance of four alternative hardware architectures is discussed and compared. The AES candidates are divided into three classes depending on their hardware performance characteristics. Recommendation regarding the optimum choice of the algorithms for AES is provided.


Alzheimer's disease: genes, proteins, and therapy.

Rapid progress in deciphering the biological mechanism of Alzheimer's disease (AD) has arisen from the application of molecular and cell biology to this complex disorder of the limbic and association cortices. In turn, new insights into fundamental aspects of protein biology have resulted from research on the disease. This beneficial interplay between basic and applied cell biology is well illustrated by advances in understanding the genotype-to-phenotype relationships of familial Alzheimer's disease. All four genes definitively linked to inherited forms of the disease to date have been shown to increase the production and/or deposition of amyloid beta-protein in the brain. In particular, evidence that the presenilin proteins, mutations in which cause the most aggressive form of inherited AD, lead to altered intramembranous cleavage of the beta-amyloid precursor protein by the protease called gamma-secretase has spurred progress toward novel therapeutics. The finding that presenilin itself may be the long-sought gamma-secretase, coupled with the recent identification of beta-secretase, has provided discrete biochemical targets for drug screening and development. Alternate and novel strategies for inhibiting the early mechanism of the disease are also emerging. The progress reviewed here, coupled with better ability to diagnose the disease early, bode well for the successful development of therapeutic and preventative drugs for this major public health problem.


FA*IR: A Fair Top-k Ranking Algorithm

In this work, we define and solve the Fair Top-k Ranking problem, in which we want to determine a subset of k candidates from a large pool of n » k candidates, maximizing utility (i.e., select the "best" candidates) subject to group fairness criteria.
 Our ranked group fairness definition extends group fairness using the standard notion of protected groups and is based on ensuring that the proportion of protected candidates in every prefix of the top-k ranking remains statistically above or indistinguishable from a given minimum. Utility is operationalized in two ways: (i) every candidate included in the top-k should be more qualified than every candidate not included; and (ii) for every pair of candidates in the top-k, the more qualified candidate should be ranked above.
 An efficient algorithm is presented for producing the Fair Top-k Ranking, and tested experimentally on existing datasets as well as new datasets released with this paper, showing that our approach yields small distortions with respect to rankings that maximize utility without considering fairness criteria. To the best of our knowledge, this is the first algorithm grounded in statistical tests that can mitigate biases in the representation of an under-represented group along a ranked list.


Lower limb rehabilitation robot

This paper describes a new prototype of lower limb rehabilitation robot (for short: LLRR), including its detailed structure, operative principles, manipulative manual and control mode which give considerate protection to patients. It implements the programmable process during the course of the limbs rehabilitation, furthermore, renders variable and predetermined step posture and force sensing. LLRR could assist patient in-- simulating normal people's footsteps, exercising leg muscles, gradually recovering the neural control toward walking function and finally walking in normal way utterly. Such robot is comprised with steps posture controlling system and weight alleviation controlling mechanism.


The Air Traffic Flow Management Problem: An Integer Optimization Approach

In this paper, we present a new Integer Program (IP) for the Air Traffic Flow Management (ATFM) problem. The model we propose provides a complete representation of all the phases of each flights, i.e., the phase of taking-off, of cruising and of landing; suggesting all the actions to be implemented to achieve the goal of safe, efficient, and expeditious aircraft movement. The distinctive feature of the model is that it allows rerouting decisions. These decisions are formulated by means of “local” conditions, which allow us to represent such decisions in a very compact way by only introducing new constraints. Moreover, to strengthen the polyhedral structure of the underlying relaxation, we also present three classes of valid inequalities. We report short computational times (less than 15 minutes) on instances of the size of the US air traffic control system that make it realistic that our approach can be used as the main engine of managing air traffic in the US.


An Improved Neural Segmentation Method Based on U-NET

摘要:局部麻醉技术作为现代社会最为常见的麻醉技 术,具有安全性高,副作用小等优势。通过分析超声 图像,分割图像中的神经区域,有助于提升局部麻醉 手术的成功率。卷积神经网络作为目前最为高效的图 像处理方法之一,具有准确性高,预处理少等优势。 通过卷积神经网络来对超声图像中的神经区域进行分 割,速度更快,准确性更高。目前已有的图像分割网 络结构主要有U-NET[1],SegNet[2]。U-NET网络训练 时间短,训练参数较少,但深度略有不足。SegNet 网 络层次较深,训练时间过长,但对训练样本需求较多 由于医学样本数量有限,会对模型训练产生一定影响。 本文我们将采用一种改进后的 U-NET 网络结构来对超 声图像中的神经区域进行分割,改进后的 U-NET 网络 结构加入的残差网络(residual network)[3],并对每一层 结果进行规范化(batch normalization)处理[4]。实验结 果表明,与传统的U-NET网络结构相比,改进后的UNET 网络分割效果具有显著提升,训练时间略有增加。 同时,将改进后的 U-NET 网络与 SegNet 网络结构进 行对比,发现改进后的 U-net 无论从训练速度还是从 分割效果均高于 SegNet 网络结构。改进后的 U-net 网 络结构在神经识别方面具有很好的应用场景。


Covariate Shift in Hilbert Space: A Solution via Sorrogate Kernels

Covariate shift is an unconventional learning scenario in which training and testing data have different distributions. A general principle to solve the problem is to make the training data distribution similar to that of the test domain, such that classifiers computed on the former generalize well to the latter. Current approaches typically target on sample distributions in the input space, however, for kernel-based learning methods, the algorithm performance depends directly on the geometry of the kernel-induced feature space. Motivated by this, we propose to match data distributions in the Hilbert space, which, given a pre-defined empirical kernel map, can be formulated as aligning kernel matrices across domains. In particular, to evaluate similarity of kernel matrices defined on arbitrarily different samples, the novel concept of surrogate kernel is introduced based on the Mercer’s theorem. Our approach caters the model adaptation specifically to kernel-based learning mechanism, and demonstrates promising results on several real-world applications. Proceedings of the 30 th International Conference on Machine Learning, Atlanta, Georgia, USA, 2013. JMLR: W&CP volume 28. Copyright 2013 by the author(s).


Massive Social Network Analysis: Mining Twitter for Social Good

Social networks produce an enormous quantity of data. Facebook consists of over 400 million active users sharing over 5 billion pieces of information each month. Analyzing this vast quantity of unstructured data presents challenges for software and hardware. We present GraphCT, a Graph Characterization Toolkit for massive graphs representing social network data. On a 128-processor Cray XMT, GraphCT estimates the betweenness centrality of an artificially generated (R-MAT) 537 million vertex, 8.6 billion edge graph in 55 minutes and a real-world graph (Kwak, et al.) with 61.6 million vertices and 1.47 billion edges in 105 minutes. We use GraphCT to analyze public data from Twitter, a microblogging network. Twitter's message connections appear primarily tree-structured as a news dissemination system. Within the public data, however, are clusters of conversations. Using GraphCT, we can rank actors within these conversations and help analysts focus attention on a much smaller data subset.


Automotive Safety and Security Integration Challenges

The ever increasing complexity of automotive vehicular systems, their connection to external networks, to the internet of things as well as their greater internal networking opens doors to hacking and malicious attacks. Security an d privacy risks in modern automotive vehicular systems are well publicized by now. That violation of securit y could lead to safety violations – is a well-argued and accepted argument. The safety discipline has matured over decades , but the security discipline is much younger . There are arguments and rightfully so, that the security engineering process is similar to the functional safety engineering process (formalized by the norm ISO 26262 ) and that they could be laid side -by-side and could be performed together but, by a different set of experts. There are moves to define a security engineering process along the lines of a functional safety engineering process for automotive vehicular systems . But, are these efforts at formalizing safety-security sufficient to produce safe and secure systems? When one sets out on this path with the idea of building safe and s ecure systems , one realizes that there are quite a few challenges, contradictions , dis imilarities, concerns to be addressed before safe and secure systems started coming out of production lines. The effort of this paper is to bring some such challeng e areas to the notice of the community and to suggest a way forward.


Comprehensive Experimental Analyses of Automotive Attack Surfaces

Modern automobiles are pervasively computerized, and hence potentially vulnerable to attack. However, while previous research has shown that the internal networks within some modern cars are insecure, the associated threat model — requiring prior physical access — has justifiably been viewed as unrealistic. Thus, it remains an open question if automobiles can also be susceptible to remote compromise. Our work seeks to put this question to rest by systematically analyzing the external attack surface of a modern automobile. We discover that remote exploitation is feasible via a broad range of attack vectors (including mechanics tools, CD players, Bluetooth and cellular radio), and further, that wireless communications channels allow long distance vehicle control, location tracking, in-cabin audio exfiltration and theft. Finally, we discuss the structural characteristics of the automotive ecosystem that give rise to such problems and highlight the practical challenges in mitigating them.


Security Threats to Automotive CAN Networks - Practical Examples and Selected Short-Term Countermeasures

The IT security of automotive systems is an evolving area of research. To analyse the current situation and the potentially growing tendency of arising threats we performed several practical tests on recent automotive technology. With a focus on automotive systems based on CAN bus technology, this article summarises the results of four selected tests performed on the control systems for the window lift, warning light and airbag control system as well as the central gateway. These results are supplemented in this article by a classification of these four attack scenarios using the established CERT taxonomy and an analysis of underlying security vulnerabilities, and especially, potential safety implications. With respect to the results of these tests, in this article we further discuss two selected countermeasures to address basic weaknesses exploited in our tests. These are adaptations of intrusion detection (discussing three exemplary detection patterns) and IT-forensic measures (proposing proactive measures based on a forensic model). This article discusses both looking at the four attack scenarios introduced before, covering their capabilities and restrictions. While these reactive approaches are short-term measures, which could already be added to today’s automotive IT architecture, long-term concepts also are shortly introduced, which are mainly preventive but will require a major redesign. Beneath a short overview on respective research approaches, we discuss their individual requirements, potential and restrictions. & 2010 Elsevier Ltd. All rights reserved.


The present phase of Machine Learning is characterized by supervised learning algorithms relying on large sets of labeled examples (n→∞). The next phase is likely to focus on algorithms capable of learning from very few labeled examples (n → 1), like humans seem able to do. We propose an approach to this problem and describe the underlying theory, based on the unsupervised, automatic learning of a “good” representation for supervised learning, characterized by small sample complexity (n). We consider the case of visual object recognition though the theory applies to other domains. The starting point is the conjecture, proved in specific cases, that image representations which are invariant to translations, scaling and other transformations can considerably reduce the sample complexity of learning. We prove that an invariant and unique (discriminative) signature can be computed for each image patch, I, in terms of empirical distributions of the dot-products between I and a set of templates stored during unsupervised learning. A module performing filtering and pooling, like the simple and complex cells described by Hubel and Wiesel, can compute such estimates. Hierarchical architectures consisting of this basic Hubel-Wiesel moduli inherit its properties of invariance, stability, and discriminability while capturing the compositional organization of the visual world in terms of wholes and parts. The theory extends existing deep learning convolutional architectures for image and speech recognition. It also suggests that the main computational goal of the ventral stream of visual cortex is to provide a hierarchical representation of new objects/images which is invariant to transformations, stable, and discriminative for recognition—and that this representation may be continuously learned in an unsupervised way during development and visual experience. This work was supported by the Center for Brains, Minds and Machines (CBMM), funded by NSF STC award CCF 1231216. http://cbmm.mit.edu CBMM Paper March, 2014 1–24 ar X iv :1 31 1. 41 58 v5 [ cs .C V ] 1 1 M ar 2 01 4 Unsupervised learning of invariant representations with low sample complexity: the magic of sensory cortex or a new framework for machine learning? Fabio Anselmi ∗ †, Joel Z. Leibo ∗ , Lorenzo Rosasco ∗ † , Jim Mutch ∗ , Andrea Tacchetti ∗ † , and Tomaso Poggio ∗ † ∗Center for Brains, Minds and Machines, Massachusetts Institute of Technology, Cambridge, MA 02139, and †Istituto Italiano di Tecnologia, Genova, 16163 The present phase of Machine Learning is characterized by supervised learning algorithms relying on large sets of labeled examples (n→∞). The next phase is likely to focus on algorithms capable of learning from very few labeled examples (n → 1), like humans seem able to do. We propose an approach to this problem and describe the underlying theory, based on the unsupervised, automatic learning of a “good” representation for supervised learning, characterized by small sample complexity (n). We consider the case of visual object recognition though the theory applies to other domains. The starting point is the conjecture, proved in specific cases, that image representations which are invariant to translations, scaling and other transformations can considerably reduce the sample complexity of learning. We prove that an invariant and unique (discriminative) signature can be computed for each image patch, I, in terms of empirical distributions of the dot-products between I and a set of templates stored during unsupervised learning. A module performing filtering and pooling, like the simple and complex cells described by Hubel and Wiesel, can compute such estimates. Hierarchical architectures consisting of this basic Hubel-Wiesel moduli inherit its properties of invariance, stability, and discriminability while capturing the compositional organization of the visual world in terms of wholes and parts. The theory extends existing deep learning convolutional architectures for image and speech recognition. It also suggests that the main computational goal of the ventral stream of visual cortex is to provide a hierarchical representation of new objects/images which is invariant to transformations, stable, and discriminative for recognition—and that this representation may be continuously learned in an unsupervised way during development and visual experience.1 Invariance | Hierarchy | Convolutional networks | Visual cortex It is known that Hubel and Wiesel’s original proposal [1] for visual area V1—of a module consisting of complex cells (C-units) combining the outputs of sets of simple cells (S-units) with identical orientation preferences but differing retinal positions—can be used to construct translationinvariant detectors. This is the insight underlying many networks for visual recognition, including HMAX [2] and convolutional neural nets [3, 4]. We show here how the original idea can be expanded into a comprehensive theory of visual recognition relevant for computer vision and possibly for visual cortex. The first step in the theory is the conjecture that a representation of images and image patches, with a feature vector that is invariant to a broad range of transformations—such as translation, scale, expression of a face, pose of a body, and viewpoint—makes it possible to recognize objects from only a few labeled examples, as humans do. The second step is proving that hierarchical architectures of Hubel-Wiesel (‘HW’) modules (indicated by ∧ in Fig. 1) can provide such invariant representations while maintaining discriminative information about the original image. Each ∧ -module provides a feature vector, which we call a signature, for the part of the visual field that is inside its “receptive field”; the signature is invariant to (R) affine transformations within the receptive field. The hierarchical architecture, since it computes a set of signatures for l=4


Automatic SQL-to-NoSQL schema transformation over the MySQL and HBase databases

The explosive growth of huge data lets cloud computing be more and more popular in recent years. Traditional web-based content management systems (CMS), e.g., phpBB, WordPress, and Joomla, store data using relational databases whose key advantage is the strong relationships among tables. However, regarding the flexibility and the feasibility of parallel processing, cloud computing adopts NoSQL databases that can support horizontal scaling to handle big data. Therefore, how to transform the existing SQL data into the NoSQL database becomes an emerging and necessary issue. This paper is motivated to propose an automatic SQL-to-NoSQL schema transformation mechanism over the MySQL and HBase databases. Based on our experimental results, the proposed mechanism is able to improve about 47% access performance.


Adaptive web search based on user profile constructed without any effort from users

Web search engines help users find useful information on the World Wide Web (WWW). However, when the same query is submitted by different users, typical search engines return the same result regardless of who submitted the query. Generally, each user has different information needs for his/her query. Therefore, the search result should be adapted to users with different information needs. In this paper, we first propose several approaches to adapting search results according to each user's need for relevant information without any user effort, and then verify the effectiveness of our proposed approaches. Experimental results show that search systems that adapt to each user's preferences can be achieved by constructing user profiles based on modified collaborative filtering with detailed analysis of user's browsing history in one day.


Broadband focusing flat mirrors based on plasmonic gradient metasurfaces.

We demonstrate that metal-insulator-metal configurations, with the top metal layer consisting of a periodic arrangement of differently sized nanobricks, can be designed to function as broadband focusing flat mirrors. Using 50-nm-high gold nanobricks arranged in a 240-nm-period lattice on the top of a 50-nm-thick layer of silicon dioxide deposited on a continuous 100-nm-thick gold film, we realize a 17.3 × 17.3 μm(2) flat mirror that efficiently reflects (experiment: 14-27%; theory: 50-78%) and focuses a linearly polarized (along the direction of nanobrick size variation) incident beam in the plane of its polarization with the focal length, which changes from ~15 to 11 μm when tuning the light wavelength from 750 to 950 nm, respectively. Our approach can easily be extended to realize the radiation focusing in two dimensions as well as other optical functionalities by suitably controlling the phase distribution of reflected light.


Opinion mining from noisy text data

The proliferation of Internet has not only generated huge volumes of unstructured information in the form of web documents, but a large amount of text is also generated in the form of emails, blogs, and feedbacks etc. The data generated from online communication acts as potential gold mines for discovering knowledge. Text analytics has matured and is being successfully employed to mine important information from unstructured text documents. Most of these techniques use Natural Language Processing techniques which assume that the underlying text is clean and correct. Statistical techniques, though not as accurate as linguistic mechanisms, are also employed for the purpose to overcome the dependence on clean text. The chief bottleneck for designing statistical mechanisms is however its dependence on appropriately annotated training data. None of these methodologies are suitable for mining information from online communication text data due to the fact that they are often noisy. These texts are informally written. They suffer from spelling mistakes, grammatical errors, improper punctuation and irrational capitalization. This paper focuses on opinion extraction from noisy text data. It is aimed at extracting and consolidating opinions of customers from blogs and feedbacks, at multiple levels of granularity. Ours is a hybrid approach, in which we initially employ a semi-supervised method to learn domain knowledge from a training repository which contains both noisy and clean text. Thereafter we employ localized linguistic techniques to extract opinion expressions from noisy text. We have developed a system based on this approach, which provides the user with a platform to analyze opinion expressions extracted from a repository.


Stereo-Matching Network for Structured Light

Recently, deep learning has been widely applied in binocular stereo matching for depth acquisition, which has led to an immense increase of accuracy. However, little attention has been paid to the structured light field. In this letter, a network for structured light is proposed to extract effective matching features for depth acquisition. The proposed network promotes the Siamese network by considering receptive fields of different scales and assigning proper weights to the corresponding features, which is achieved by combining pyramid-pooling structure with the squeeze-and-excitation network into the Siamese network for feature extraction and weight calculations, respectively. For network training and testing, a structured-light dataset with amended ground truths is generated by projecting a random pattern into the existing binocular stereo dataset. Experiments demonstrate that the proposed network is capable of real-time depth acquisition, and it provides superior depth maps using structured light.


Attribute-Guided Face Generation Using Conditional CycleGAN

We are interested in attribute-guided face generation: given a low-res face input image, an attribute vector that can be extracted from a high-res image (attribute image), our new method generates a highres face image for the low-res input that satisfies the given attributes. To address this problem, we condition the CycleGAN and propose conditional CycleGAN, which is designed to 1) handle unpaired training data because the training low/high-res and high-res attribute images may not necessarily align with each other, and to 2) allow easy control of the appearance of the generated face via the input attributes. We demonstrate high-quality results on the attribute-guided conditional CycleGAN, which can synthesize realistic face images with appearance easily controlled by user-supplied attributes (e.g., gender, makeup, hair color, eyeglasses). Using the attribute image as identity to produce the corresponding conditional vector and by incorporating a face verification network, the attribute-guided network becomes the identity-guided conditional CycleGAN which produces high-quality and interesting results on identity transfer. We demonstrate three applications on identityguided conditional CycleGAN: identity-preserving face superresolution, face swapping, and frontal face generation, which consistently show the advantage of our new method.


Adaptive midlife defense mechanisms and late-life health.

A growing body of research suggests that personality characteristics relate to physical health; however, this relation ship has primarily been tested in cross-sectional studies that have not followed the participants into old age. The present study utilizes data from a 70-year longitudinal study to prospectively examine the relationship between the adaptive defense mechanisms in midlife and objectively assessed physical health in late life. In addition to examining the direct effect, we test whether social support mediates this relation ship. The sample consisted of 90 men who were followed for over seven decades beginning in late adolescence. Health ratings from medical records were made at three time points (ages 70, 75, and 80). Defense mechanisms were coded from narratives by trained independent raters (Vaillant, Bond, & Vaillant, 1986). Independent raters assessed social supports between ages 50 and 70. More adaptive defenses in midlife were associated with better physical health at all three time points in late life. These relationships were partially mediated by social support. Findings are consistent with the theory that defense maturity is important for building social relationships, which in turn contribute to better late-life physical health. Psychological interventions aimed at improving these domains may be beneficial for physical health.


Transformer-Less Converter Concept for a Grid-Connection of Thin-Film Photovoltaic Modules

A transformer-less converter concept for grid- connected photovoltaic systems is proposed that combines a DC/DC converter front-end with a DC/AC inverter. The converter system has an earth-connected DC input, as required from many thin-film photovoltaic modules. The DC/DC converter increases the positive photovoltaic DC-bus voltage by its negative DC output voltage to supply a grid-connected 3-phase inverter. This architecture extends today's power electronic converter topologies for thin-film photovoltaic modules considering their special requirements with the ambition to realize higher power conversion efficiencies at lower cost.


A dual frequency OMT in the Ku band for TT&C applications

A mixed characterisation by means of the generalized admittance matrix and the generalized scattering matrices, obtained with mode matching is proposed to design dual-band orthomode transducer (OMT) components. Accurate and efficient fullwave analysis software based on this procedure has been developed. A dual frequency OMT in the Ku band with high performance has been fully designed with the developed software. The good agreement between the numerical and experimental results validates the design process.


Streaming Live Media over a Peer-to-Peer Network

The high bandwidth required by live streaming video greatly limits the number of clients that can be served by a source. In this work, we discuss and evaluate an architecture, calledSpreadIt, for streaming live media over a network of clients, using the resources of the clients themselves. Using SpreadIt, we can distribute bandwidth requirements over the network. The key challenge is to allow an application level multicast tree to be easily maintained over a network of transient peers, while ensuring that quality of service does not degrade. We propose a basic peering infrastructure layer for streaming applications, which uses a redirect primitive to meet the challenge successfully. Through empirical and simulation studies, we show that SpreadIt provides a good quality of service, which degrades gracefully with increasing number of clients. Perhaps more significantly, existing applications can be made to work with SpreadIt, without any change to their code base. Keywords— peer-to-peer networks, live streaming media, peering layer, redirect primitive, transient nodes


System Design for Geosynchronous Synthetic Aperture Radar Missions

Geosynchronous synthetic aperture radar (GEO SAR) has been studied for several decades but has not yet been implemented. This paper provides an overview of mission design, describing significant constraints (atmosphere, orbit, temporal stability of the surface and atmosphere, measurement physics, and radar performance) and then uses these to propose an approach to initial system design. The methodology encompasses all GEO SAR mission concepts proposed to date. Important classifications of missions are: 1) those that require atmospheric phase compensation to achieve their design spatial resolution; and 2) those that achieve full spatial resolution without phase compensation. Means of estimating the atmospheric phase screen are noted, including a novel measurement of the mean rate of change of the atmospheric phase delay, which GEO SAR enables. Candidate mission concepts are described. It seems likely that GEO SAR will be feasible in a wide range of situations, although extreme weather and unstable surfaces (e.g., water, tall vegetation) prevent 100% coverage. GEO SAR offers an exciting imaging capability that powerfully complements existing systems.


A hybrid feature selection scheme for unsupervised learning and its application in bearing fault diagnosis

With the development of the condition-based maintenance techniques and the consequent requirement for good machine learning methods, new challenges arise in unsupervised learning. In the real-world situations, due to the relevant features that could exhibit the real machine condition are often unknown as priori, condition monitoring systems based on unimportant features, e.g. noise, might suffer high falsealarm rates, especially when the characteristics of failures are costly or difficult to learn. Therefore, it is important to select the most representative features for unsupervised learning in fault diagnostics. In this paper, a hybrid feature selection scheme (HFS) for unsupervised learning is proposed to improve the robustness and the accuracy of fault diagnostics. It provides a general framework of the feature selection based on significance evaluation and similarity measurement with respect to the multiple clustering solutions. The effectiveness of the proposed HFS method is demonstrated by a bearing fault diagnostics application and comparison with other features selection methods. 2011 Elsevier Ltd. All rights reserved.


Software testing: a research travelogue (2000-2014)

Despite decades of work by researchers and practitioners on numerous software quality assurance techniques, testing remains one of the most widely practiced and studied approaches for assessing and improving software quality. Our goal, in this paper, is to provide an accounting of some of the most successful research performed in software testing since the year 2000, and to present what appear to be some of the most significant challenges and opportunities in this area. To be more inclusive in this effort, and to go beyond our own personal opinions and biases, we began by contacting over 50 of our colleagues who are active in the testing research area, and asked them what they believed were (1) the most significant contributions to software testing since 2000 and (2) the greatest open challenges and opportunities for future research in this area. While our colleagues’ input (consisting of about 30 responses) helped guide our choice of topics to cover and ultimately the writing of this paper, we by no means claim that our paper represents all the relevant and noteworthy research performed in the area of software testing in the time period considered—a task that would require far more space and time than we have available. Nevertheless, we hope that the approach we followed helps this paper better reflect not only our views, but also those of the software testing community in general.


Provably Fair Representations

Machine learning systems are increasingly used to make decisions about people’s lives, such as whether to give someone a loan or whether to interview someone for a job. This has led to considerable interest in making such machine learning systems fair. One approach is to transform the input data used by the algorithm. This can be achieved by passing each input data point through a representation function prior to its use in training or testing. Techniques for learning such representation functions from data have been successful empirically, but typically lack theoretical fairness guarantees. We show that it is possible to prove that a representation function is fair according to common measures of both group and individual fairness, as well as useful with respect to a target task. These provable properties can be used in a governance model involving a data producer, a data user and a data regulator, where there is a separation of concerns between fairness and target task utility to ensure transparency and prevent perverse incentives. We formally define the ‘cost of mistrust’ of using this model compared to the setting where there is a single trusted party, and provide bounds on this cost in particular cases. We present a practical approach to learning fair representation functions and apply it to financial and criminal justice datasets. We evaluate the fairness and utility of these representation functions using measures motivated by our theoretical results.


Pinpointing Vulnerabilities

Memory-based vulnerabilities are a major source of attack vectors. They allow attackers to gain unauthorized access to computers and their data. Previous research has made significant progress in detecting attacks. However, developers still need to locate and fix these vulnerabilities, a mostly manual and time-consuming process. They face a number of challenges. Particularly, the manifestation of an attack does not always coincide with the exploited vulnerabilities, and many attacks are hard to reproduce in the lab environment, leaving developers with limited information to locate them. In this paper, we propose Ravel, an architectural approach to pinpoint vulnerabilities from attacks. Ravel consists of an online attack detector and an offline vulnerability locator linked by a record & replay mechanism. Specifically, Ravel records the execution of a production system and simultaneously monitors it for attacks. If an attack is detected, the execution is replayed to reveal the targeted vulnerabilities by analyzing the program's memory access patterns under attack. We have built a prototype of Ravel based on the open-source FreeBSD operating system. The evaluation results in security and performance demonstrate that Ravel can effectively pinpoint various types of memory vulnerabilities and has low performance overhead.


A dataset for activity recognition in an unmodified kitchen using smart-watch accelerometers

Activity recognition from smart devices and wearable sensors is an active area of research due to the widespread adoption of smart devices and the benefits it provide for supporting people in their daily lives. Many of the available datasets for fine-grained primitive activity recognition focus on locomotion or sports activities with less emphasis on real-world day-to-day behavior. This paper presents a new dataset for activity recognition in a realistic unmodified kitchen environment. Data was collected using only smart-watches from 10 lay participants while they prepared food in an unmodified rented kitchen. The paper also providing baseline performance measures for different classifiers on this dataset. Moreover, a deep feature learning system and more traditional statistical features based approaches are compared. This analysis shows that - for all evaluation criteria - data-driven feature learning allows the classifier to achieve best performance compared with hand-crafted features.


Methods for Evaluating Text Extraction Toolkits: An Exploratory Investigation

Text extraction tools are vital for obtaining the textual content of computer files and for using the electronic text in a wide variety of applications, including search and natural language processing. However, when extraction tools fail, they convert once reliable electronic text into garbled text, or no text at all. The techniques and tools for validating the accuracy of these text extraction tools are conspicuously absent from academia and industry. This paper contributes to closing this gap. We discuss an exploratory investigation into a method and a set of tools for evaluating a text extraction toolkit. Although this effort focuses on the popular open source Apache Tika toolkit and the govdocs1 corpus, the method generally applies to other text extraction toolkits and corpora.


CIS-UltraCal: An open-source ultrasound calibration toolkit

We present an open-source MATLAB toolkit for ultrasound calibration. It has a convenient graphical user interface which sits on top of an extensive API. Calibration using three different phantoms is explicitly supported: the cross-wire phantom, the single-wall phantom, and the Hopkins phantom. Image processing of the Hopkins phantom is automated by making use of techniques from binary morphology, radon transform and RANSAC. Numerous calibration and termination parameters are exposed. It is also modular, allowing one to apply the system to original phantoms by writing a minimum of new code.


The Floyd-Warshall algorithm on graphs with negative cycles

The Floyd-Warshall algorithm is a simple and widely used algorithm to compute shortest paths between all pairs of vertices in an edge weighted directed graph. It can also be used to detect the presence of negative cycles. We will show that for this task many existing implementations of the Floyd-Warshall algorithm will fail because exponentially large numbers can appear during its execution.


An exact algorithm for a vehicle routing problem with time windows and multiple use of vehicles

The vehicle routing problem with multiple use of vehicles is a variant of the classical vehicle routing problem. It arises when each vehicle performs several routes during the workday due to strict time limits on route duration (e.g., when perishable goods are transported). The routes are defined over customers with a revenue, a demand and a time window. Given a fixed-size fleet of vehicles, it might not be possible to serve all customers. Thus, the customers must be chosen based on their associated revenue minus the traveling cost to reach them. We introduce a branch-and-price approach to address this problem where lower bounds are computed by solving the linear programming relaxation of a set packing formulation, using column generation. The pricing subproblems are elementary shortest path problems with resource constraints. Computational results are reported on euclidean problems derived from well-known benchmark instances for the vehicle routing problem with time windows. 2009 Elsevier B.V. All rights reserved.


Fibonacci heaps and their uses in improved network optimization algorithms

In this paper we develop a new data structure for implementing heaps (priority queues). Our structure, <italic>Fibonacci heaps</italic> (abbreviated <italic>F-heaps</italic>), extends the binomial queues proposed by Vuillemin and studied further by Brown. F-heaps support arbitrary deletion from an <italic>n</italic>-item heap in <italic>O</italic>(log <italic>n</italic>) amortized time and all other standard heap operations in <italic>O</italic>(1) amortized time. Using F-heaps we are able to obtain improved running times for several network optimization algorithms. In particular, we obtain the following worst-case bounds, where <italic>n</italic> is the number of vertices and <italic>m</italic> the number of edges in the problem graph:<list><item><italic>O</italic>(<italic>n</italic> log <italic>n</italic> + <italic>m</italic>) for the single-source shortest path problem with nonnegative edge lengths, improved from <italic>O</italic>(<italic>m</italic>log<subscrpt>(<italic>m/n</italic>+2)</subscrpt><italic>n</italic>);
</item><item><italic>O</italic>(<italic>n</italic><supscrpt>2</supscrpt>log <italic>n</italic> + <italic>nm</italic>) for the all-pairs shortest path problem, improved from <italic>O</italic>(<italic>nm</italic> log<subscrpt>(<italic>m/n</italic>+2)</subscrpt><italic>n</italic>);
</item><item><italic>O</italic>(<italic>n</italic><supscrpt>2</supscrpt>log <italic>n</italic> + <italic>nm</italic>) for the assignment problem (weighted bipartite matching), improved from <italic>O</italic>(<italic>nm</italic>log<subscrpt>(<italic>m/n</italic>+2)</subscrpt><italic>n</italic>);
</item><item><italic>O</italic>(<italic>mβ</italic>(<italic>m, n</italic>)) for the minimum spanning tree problem, improved from <italic>O</italic>(<italic>m</italic>log log<subscrpt>(<italic>m/n</italic>+2)</subscrpt><italic>n</italic>); where <italic>β</italic>(<italic>m, n</italic>) = min {<italic>i</italic> ↿ log<supscrpt>(<italic>i</italic>)</supscrpt><italic>n</italic> ≤ <italic>m/n</italic>}. Note that <italic>β</italic>(<italic>m, n</italic>) ≤ log<supscrpt>*</supscrpt><italic>n</italic> if <italic>m</italic> ≥ <italic>n</italic>.
</item></list>Of these results, the improved bound for minimum spanning trees is the most striking, although all the results give asymptotic improvements for graphs of appropriate densities.


Faster Algorithms for the Shortest Path Problem

Efficient implementations of Dijkstra's shortest path algorithm are investigated. A new data structure, called the <italic>radix heap</italic>, is proposed for use in this algorithm. On a network with <italic>n</italic> vertices, <italic>m</italic> edges, and nonnegative integer arc costs bounded by <italic>C</italic>, a one-level form of radix heap gives a time bound for Dijkstra's algorithm of <italic>O</italic>(<italic>m</italic> + <italic>n</italic> log <italic>C</italic>). A two-level form of radix heap gives a bound of <italic>O</italic>(<italic>m</italic> + <italic>n</italic> log <italic>C</italic>/log log <italic>C</italic>). A combination of a radix heap and a previously known data structure called a <italic>Fibonacci heap</italic> gives a bound of <italic>O</italic>(<italic>m</italic> + <italic>n</italic>a @@@@log <italic>C</italic>). The best previously known bounds are <italic>O</italic>(<italic>m</italic> + <italic>n</italic> log <italic>n</italic>) using Fibonacci heaps alone and <italic>O</italic>(<italic>m</italic> log log <italic>C</italic>) using the priority queue structure of Van Emde Boas et al. [ 17].


Circular and Elliptical CPW-Fed Slot and Microstrip-Fed Antennas for Ultrawideband Applications

This letter presents novel circular and elliptical coplanar waveguide (CPW)-fed slot and mictrostip-fed antenna designs targeting the 3.1¿10.6 GHz band. The antennas are comprised of elliptical or circular stubs that excite similar-shaped slot apertures. Four prototypes have been examined, fabricated and experimentally tested, the three being fed by a CPW and the fourth by a microstrip line, exhibiting a very satisfactory behavior throughout the 7.5 GHz of the allocated bandwidth in terms of impedance matching $(hbox VSWR¿2)$, radiation efficiency and radiation pattern characteristics. Measured impedance bandwidths of beyond 175% will be presented.


Numerical methods for the Stokes and Navier-Stokes equations driven by threshold slip boundary conditions

In this article, we discuss the numerical solution of the Stokes and Navier-Stokes equations completed by nonlinear slip boundary conditions of friction type in two and three dimensions. To solve the Stokes system, we first reduce the related variational inequality into a saddle point-point problem for a well chosen augmented Lagrangian. To solve this saddle point problem we suggest an alternating direction method of multiplier together with finite element approximations. The solution of the Navier Stokes system combines finite element approximations, time discretization by operator splitting and augmented Lagrangian method. Numerical experiment results for two and three dimensional flow confirm the interest of these approaches.


ETCF: An Ensemble Model for CTR Prediction

Online advertising has attracted lots of attention in both academic and industrial domains. Among many realworld advertising systems, click through rate (CTR) prediction plays a central role. With a large volume of user history log and given its various features, it is quite a challenge to fully extract the meaningful information inside that amount of data. What's more, for many machine learning models, in order to achieve the best performance of the CTR prediction, a lot of hyper-parameters need to be tuned, which often costs plenty of time. In this paper, we propose an ensemble model named ETCF, which cascades GBDT with gcForest to tackle the practical problems of CTR prediction and do not need much hyper-parameter tuning work to realize its best performance. Experimental results validate the effective prediction power of ETCF against classical baseline models, and the superiority of GBDT transformed features.


A Computational Model for the Dynamical Learning of Event Taxonomies

We present a computational model that can learn event taxonomies online from the continuous sensorimotor information flow perceived by an agent while interacting with its environment. Our model implements two fundamental learning biases. First, it learns probabilistic event models as temporal sensorimotor forward models and event transition models, which predict event model transitions given particular perceptual circumstances. Second, learning is based on the principle of minimizing free energy, which is further biased towards the detection of free energy transients. As a result, the algorithm forms conceptual structures that encode events and event boundaries. We show that event taxonomies can emerge when the algorithm is run on multiple levels of precision. Moreover, we show that generally any type of forward model can be used, as long as it learns sufficiently fast. Finally, we show that the developed structures can be used to hierarchically plan goaldirected behavior by means of active inference.


Heterogeneity and plasticity of T helper cells

CD4 T helper (Th) cells play critical roles in adaptive immune responses. They recruit and activate other immune cells including B cells, CD8 T cells, macrophages, mast cells, neutrophils, eosinophils and basophils. Based on their functions, their pattern of cytokine secretion and their expression of specific transcription factors, Th cells, differentiated from naïve CD4 T cells, are classified into four major lineages, Th1, Th2, Th17 and T regulatory (Treg) cells, although other Th lineages may exist. Subsets of the same lineage may express different effector cytokines, reside at different locations or give rise to cells with different fates, whereas cells from different lineages may secrete common cytokines, such as IL-2, IL-9 and IL-10, resulting in massive heterogeneity of the Th cell population. In addition, the pattern of cytokine secretion may switch from that of one lineage toward another under certain circumstances, suggesting that Th cells are plastic. Tregs are also more heterogeneous and plastic than were originally thought. In this review, we summarize recent reports on heterogeneity and plasticity of Th cells, and discuss potential mechanisms and implications of such features that Th cells display.


A Blind Navigation System Using RFID for Indoor Environments

A location and tracking system becomes very important to our future world of pervasive computing, where information is all around us. Location is one of the most needed information for emerging and future applications. Since the public use of GPS satellite is allowed, several state-of-the-art devices become part of our life, e.g. a car navigator and a mobile phone with a built-in GPS receiver. However, location information for indoor environments is still very limited as mentioned in paper. Several techniques are proposed to get location information in buildings such as using a radio signal triangulation. Using Radio Frequency Identification (RFID) tags is a new way of giving location information to users. Due to its passive communication circuit, RFID tags can be embedded almost anywhere without an energy source. The tags stores location information and give it to any reader that is within a proximity range which can be up to 7-10 centimeters. In this paper RFID-based system for navigation in a building for blind people or visually impaired


Predicting food nutrition facts using pocket-size near-infrared sensor

Diet monitoring is one of the most important aspects in preventative health care that aims to reduce various health risks. Manual recording has been a prevalence among all approaches yet it is tedious and often end up with a low adherence rate. Several existing techniques that have been developed to monitor food intake suffer too with accuracy, efficiency, and user acceptance rate. In this paper we propose a novel approach on measuring food nutrition facts, through a pocket-size non-intrusive near-infrared (NIR) scanner. We build efficient regression models that can make quantitative prediction on food nutrition contents, such as energy and carbohydrate. Our extensive experiments on off-the-shelf liquid foods demonstrates the accuracy of these regression models and proves the applicability of using NIR spectra that are collected by small hand-held scanner, on food nutrition prediction.


Sequential Query Expansion using Concept Graph

Manually and automatically constructed concept graphs (or semantic networks), in which the nodes correspond to words or phrases and the typed edges designate semantic relationships between words and phrases, have been previously shown to be rich sources of effective latent concepts for query expansion. However, finding good expansion concepts for a given query in large and dense concept graphs is a challenging problem, since the number of candidate concepts that are related to query terms and phrases and need to be examined increases exponentially with the distance from the original query concepts. In this paper, we propose a two-stage feature-based method for sequential selection of the most effective concepts for query expansion from a concept graph. In the first stage, the proposed method weighs the concepts according to different types of computationally inexpensive features, including collection and concept graph statistics. In the second stage, a sequential concept selection algorithm utilizing more expensive features is applied to find the most effective expansion concepts at different distances from the original query concepts. Experiments on TREC datasets of different type indicate that the proposed method achieves significant improvement in retrieval accuracy over state-of-the-art methods for query expansion using concept graphs.


Timing to Perfection: The Biology of Central and Peripheral Circadian Clocks

The mammalian circadian system, which is comprised of multiple cellular clocks located in the organs and tissues, orchestrates their regulation in a hierarchical manner throughout the 24 hr of the day. At the top of the hierarchy are the suprachiasmatic nuclei, which synchronize subordinate organ and tissue clocks using electrical, endocrine, and metabolic signaling pathways that impact the molecular mechanisms of cellular clocks. The interplay between the central neural and peripheral tissue clocks is not fully understood and remains a major challenge in determining how neurological and metabolic homeostasis is achieved across the sleep-wake cycle. Disturbances in the communication between the plethora of body clocks can desynchronize the circadian system, which is believed to contribute to the development of diseases such as obesity and neuropsychiatric disorders. This review will highlight the relationship between clocks and metabolism, and describe how cues such as light, food, and reward mediate entrainment of the circadian system.


Deep learning to extract laboratory mouse ultrasonic vocalizations from scalograms

We tested two techniques that can assist in the automatic extraction and analysis of laboratory mouse ultrasonic vocalizations. First, we substituted a Morlet-wavelet-based scalogram in place of the commonly used Fourier-based spectrogram. The frequencies in a scalogram are logarithmically scaled, which likely makes it better model a mouse's pitch perception based on the structure of its inner ear. Works that use the linear spectrogram are more likely to overemphasize frequency change at high frequencies, and so might misclassify calls when partitioning them according to frequency modulation. We showed that laboratory mice do indeed modulate their calls more when making high-frequency calls, which we would expect if they perceive pitch logarithmically. Secondly, we used “deep” convolutional neural networks to automatically identify calls within the scalogram. A convolutional neural network performs much like the animal visual cortex, and has enjoyed recent success in computer-vision and related problems. We compared the convolutional network to a conventional fully-connected neural network and the Song filter used by recent papers, and found that our convolutional network identifies calls with greater precision and recall.


Towards Secure Provenance in the Cloud: A Survey

Provenance information are meta-data that summarize the history of the creation and the actions performed on an artefact e.g. data, process etc. Secure provenance is essential to improve data forensics, ensure accountability and increase the trust in the cloud. In this paper, we survey the existing cloud provenance management schemes and proposed security solutions. We investigate the current related security challenges resulting from the nature of the provenance model and the characteristics of the cloud and we finally identify potential research directions which we feel necessary t should be covered in order to build a secure cloud provenance for the next generation.


Community detection with partially observable links and node attributes

Community detection has been an important task for social and information networks. Existing approaches usually assume the completeness of linkage and content information. However, the links and node attributes can usually be partially observable in many real-world networks. For example, users can specify their privacy settings to prevent non-friends from viewing their posts or connections. Such incompleteness poses additional challenges to community detection algorithms. In this paper, we aim to detect communities with partially observable link structure and node attributes. To fuse such incomplete information, we learn link-based and attribute-based representations via kernel alignment and a co-regularization approach is proposed to combine the information from both sources (i.e., links and attributes). The link-based and attribute-based representations can lend strength to each other via the partial consensus learning. We present two instantiations of this framework by enforcing hard and soft consensus constraint respectively. Experimental results on real-world datasets show the superiority of the proposed approaches over the baseline methods and its robustness under different observable levels.


The Fast-Forward Planning System

planner in the Fifth International Conference on Artificial Intelligence Planning and Scheduling (AIPS’00) planning systems competition. Like the well-known HSP system, FF relies on forward search in the state space, guided by a heuristic that estimates goal distances by ignoring delete lists. It differs from HSP in a number of important details. This article describes the algorithmic techniques used in FF in comparison to HSP and evaluates their benefits in terms of run-time and solution-length behavior.


Detailed Full-Body Reconstructions of Moving People from Monocular RGB-D Sequences

We accurately estimate the 3D geometry and appearance of the human body from a monocular RGB-D sequence of a user moving freely in front of the sensor. Range data in each frame is first brought into alignment with a multi-resolution 3D body model in a coarse-to-fine process. The method then uses geometry and image texture over time to obtain accurate shape, pose, and appearance information despite unconstrained motion, partial views, varying resolution, occlusion, and soft tissue deformation. Our novel body model has variable shape detail, allowing it to capture faces with a high-resolution deformable head model and body shape with lower-resolution. Finally we combine range data from an entire sequence to estimate a high-resolution displacement map that captures fine shape details. We compare our recovered models with high-resolution scans from a professional system and with avatars created by a commercial product. We extract accurate 3D avatars from challenging motion sequences and even capture soft tissue dynamics.


Auto-Join: Joining Tables by Leveraging Transformations

Traditional equi-join relies solely on string equality comparisons to perform joins. However, in scenarios such as adhoc data analysis in spreadsheets, users increasingly need to join tables whose join-columns are from the same semantic domain but use different textual representations, for which transformations are needed before equi-join can be performed. We developed Auto-Join, a system that can automatically search over a rich space of operators to compose a transformation program, whose execution makes input tables equi-join-able. We developed an optimal sampling strategy that allows Auto-Join to scale to large datasets efficiently, while ensuring joins succeed with high probability. Our evaluation using real test cases collected from both public web tables and proprietary enterprise tables shows that the proposed system performs the desired transformation joins efficiently and with high quality.


Integrated ultra-high impedance front-end for non-contact biopotential sensing

Non-contact ECG/EEG electrodes, which operate primarily through capacitive coupling, have been extensively studied for unobtrusive physiological monitoring. Previous implementations using discrete off-the-shelf amplifiers have been encumbered by the need for manually tuned input capacitance neutralization networks and complex DC-biasing schemes. We have designed and fabricated a custom integrated high input impedance (60 fF∥5TΩ), low noise (0.05 fA/√Hz) non-contact sensor front-end specifically to bypass these limitations. The amplifier fully bootstraps both the internal and external parasitic impedances to achieve an input capacitance of 60 fF without neutralization. To ensure DC stability and eliminate the need for external large valued resistances, a low-leakage, on-chip biasing network is included. Stable frequency response is demonstrated below 0.05 Hz even with coupling capacitances as low as 0.5 pF.


Machine learning on sequential data using a recurrent weighted average

Recurrent Neural Networks (RNN) are a type of statistical model designed to handle sequential data. The model reads a sequence one symbol at a time. Each symbol is processed based on information collected from the previous symbols. With existing RNN architectures, each symbol is processed using only information from the previous processing step. To overcome this limitation, we propose a new kind of RNN model that computes a recurrent weighted average (RWA) over every past processing step. Because the RWA can be computed as a running average, the computational overhead scales like that of any other RNN architecture. The approach essentially reformulates the attention mechanism into a stand-alone model. The performance of the RWA model is assessed on the variable copy problem, the adding problem, classification of artificial grammar, classification of sequences by length, and classification of the MNIST images (where the pixels are read sequentially one at a time). On almost every task, the RWA model is found to fit the data significantly faster than a standard LSTM model.


Job shop scheduling

Then×m minimum-makespan general job-shop scheduling problem, hereafter referred to as the JSSP, can be described by a set of n jobs{Ji}1≤j≤n which is to be processed on a set of m machines{Mr}1≤r≤m. Each job has a technological sequence of machines to be processed. The processing of job Jj on machineMr is called theoperationOjr. OperationOjr requires the exclusive use of Mr for an uninterrupted durationpjr, its processing time. Ascheduleis a set of completion times for each operation {cjr}1≤j≤n,1≤r≤m that satisfies those constraints. The time required to complete all the jobs is called the makespanL. The objective when solving or optimizing this general problem is to determine t h schedule which minimizesL. An example of a3 × 3 JSSP is given in Table 7.1. The data includes the


Improving the Transcription of Academic Lectures for Information Retrieval

Recording university lectures through lecture capture systems is increasingly common, generating large amounts of audio and video data. Transcribing recordings greatly enhances their usefulness by making them easy to search. However, the number of recordings accumulates rapidly, rendering manual transcription impractical. Automatic transcription, on the other hand, suffers from low levels of accuracy, partly due to the special language of academic disciplines, which standard language models do not cover. This paper looks into the use of Wikipedia to dynamically adapt language models for scholarly speech. We propose Ranked Word Correct Rate as a new metric better aligned with the goals of improving transcript search ability and specialist word recognition. The study shows that, while overall transcription accuracy may remain low, targeted language modelling can substantially improve search ability, an important goal in its own right.


Aggregate G-Buffer Anti-Aliasing -Extended Version-

We present Aggregate G-Buffer Anti-Aliasing (AGAA), a new technique for efficient anti-aliased deferred rendering of complex geometry using modern graphics hardware. In geometrically complex situations where many surfaces intersect a pixel, current rendering systems shade each contributing surface <italic>at least</italic> once per pixel. As the sample density and geometric complexity increase, the shading cost becomes prohibitive for real-time rendering. Under deferred shading, so does the required framebuffer memory. Our goal is to make high per-pixel sampling rates practical for real-time applications by substantially reducing shading costs and per-pixel storage compared to traditional deferred shading. AGAA uses the rasterization pipeline to generate a compact, pre-filtered geometric representation inside each pixel. We shade this representation at a fixed rate, independent of geometric complexity. By decoupling shading rate from geometric sampling rate, the algorithm reduces the storage and bandwidth costs of a geometry buffer, and allows scaling to high visibility sampling rates for anti-aliasing. AGAA with two aggregates per-pixel generates results comparable to 32<inline-formula><tex-math notation="LaTeX">$\times$</tex-math><alternatives> <inline-graphic xlink:type="simple" xlink:href="crassin-ieq1-2586073.gif"/></alternatives></inline-formula> MSAA, but requires 54 percent less memory and is up to 2.6<inline-formula><tex-math notation="LaTeX">$\times$</tex-math><alternatives> <inline-graphic xlink:type="simple" xlink:href="crassin-ieq2-2586073.gif"/></alternatives></inline-formula> faster (<inline-formula> <tex-math notation="LaTeX">$-30$</tex-math><alternatives> <inline-graphic xlink:type="simple" xlink:href="crassin-ieq3-2586073.gif"/></alternatives></inline-formula> percent memory and 1.7 <inline-formula><tex-math notation="LaTeX">$\times$</tex-math><alternatives> <inline-graphic xlink:type="simple" xlink:href="crassin-ieq4-2586073.gif"/></alternatives></inline-formula> faster for 8<inline-formula> <tex-math notation="LaTeX">$\times$</tex-math><alternatives> <inline-graphic xlink:type="simple" xlink:href="crassin-ieq5-2586073.gif"/></alternatives></inline-formula> MSAA).


A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning

Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and often in practice. Some recent approaches (Daumé III et al., 2009; Ross and Bagnell, 2010) provide stronger guarantees in this setting, but remain somewhat unsatisfactory as they train either non-stationary or stochastic policies and require a large number of iterations. In this paper, we propose a new iterative algorithm, which trains a stationary deterministic policy, that can be seen as a no regret algorithm in an online learning setting. We show that any such no regret algorithm, combined with additional reduction assumptions, must find a policy with good performance under the distribution of observations it induces in such sequential settings. We demonstrate that this new approach outperforms previous approaches on two challenging imitation learning problems and a benchmark sequence labeling problem.


CDM protection design for CMOS applications using RC-triggered rail clamps

A new ESD protection design method is introduced that optimizes the CDM circuit response of an RC-triggered rail clamp network for I/O protection. The design is verified by VF-TLP and CDM test data of I/O test rings with two different output driver options.


A Generalized Path Integral Control Approach to Reinforcement Learning

With the goal to generate more scalable algorithms with high er efficiency and fewer open parameters, reinforcement learning (RL) has recently moved towar ds combining classical techniques from optimal control and dynamic programming with modern learni ng techniques from statistical estimation theory. In this vein, this paper suggests to use the fr amework of stochastic optimal control with path integrals to derive a novel approach to RL with para meterized policies. While solidly grounded in value function estimation and optimal control b ased on the stochastic Hamilton-JacobiBellman (HJB) equations, policy improvements can be transf ormed into an approximation problem of a path integral which has no open algorithmic parameters o ther than the exploration noise. The resulting algorithm can be conceived of as model-based, sem i-model-based, or even model free, depending on how the learning problem is structured. The upd ate equations have no danger of numerical instabilities as neither matrix inversions nor g radient learning rates are required. Our new algorithm demonstrates interesting similarities with previous RL research in the framework of probability matching and provides intuition why the slig htly heuristically motivated probability matching approach can actually perform well. Empirical eva luations demonstrate significant performance improvements over gradient-based policy learnin g a d scalability to high-dimensional control problems. Finally, a learning experiment on a simul ated 12 degree-of-freedom robot dog illustrates the functionality of our algorithm in a complex robot learning scenario. We believe that Policy Improvement withPath Integrals ( PI2) offers currently one of the most efficient, numerically robust, and easy to implement algorithms for RL based o n trajectory roll-outs.